首页|A Novel Disturbance Observer Based Fixed-Time Sli-ding Mode Control for Robotic Manipulators With Global Fast Convergence

A Novel Disturbance Observer Based Fixed-Time Sli-ding Mode Control for Robotic Manipulators With Global Fast Convergence

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This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO)is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems.Then an adaptive scheme is used and the adaptive FTDO(AFTDO)is developed,so that the priori knowledge of the lumped disturbance is not required.Further,a new non-singular fast terminal sliding mode(NFTSM)surface is designed by using an arctan function,which helps to overcome the singularity prob-lem and enhance the robustness of the system.Based on the esti-mation of the lumped disturbance by the AFTDO,a fixed-time non-singular fast terminal sliding mode controller(FTNFTSMC)is developed to guarantee the trajectory tracking errors converge to zero within a fixed time.The settling time is independent of the initial state of the system.In addition,the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method.Finally,the fixed-time NFESM(FTNFTSM)algorithm is vali-dated on a 2-link manipulator and comparisons with other exist-ing sliding mode controllers(SMCs)are performed.The compar-ative results confirm that the FTNFTSMC has superior control performance.

Disturbance observer(DO)fixed-timenon-singular sliding mode controlrobotic manipulatortrajectory tracking

Dan Zhang、Jiabin Hu、Jun Cheng、Zheng-Guang Wu、Huaicheng Yan

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Zhejiang University of Technology,Hangzhou 310023,China

Guangxi Normal University,Guilin 541004,China

Zhejiang University,Hangzhou 310027,China

East China University of Science and Technology,Shanghai 200237,China

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National Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaZhejiang Provincial Natural Science Foundation of China for Distinguished Young ScholarsNational Key Rearch and Development FundingKey Rearch and Development Programs of Zhejiang ProvinceMajor Project of Science and Technology Innovation in Ningbo City

6232231561873237LR22F0300032018YFB14037022023C012242019B1003

2024

10.1109/JAS.2023.123948

自动化学报(英文版)
中国自动化学会,中国科学院自动化研究所,中国科技出版传媒股份有限公司

自动化学报(英文版)

CSTPCDEI
ISSN：2329-9266
年,卷(期)：2024.11(3)
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