Terminal Sliding-Mode Control of Uncertain Robotic Manipulator System with Predefined Convergence Time
This paper concentrates on the predefined-time trajectory tracking for an uncertain robotic manipulator system. First, a modified predefined-time control (PTC) algorithm is proposed. Subsequently, with the help of proposed modified PTC algorithm and the nonsingular design method of terminal sliding...
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2021/9991989 |
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| _version_ | 1832548862977376256 |
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| author | Yang Wang Mingshu Chen Yu Song |
| author_facet | Yang Wang Mingshu Chen Yu Song |
| author_sort | Yang Wang |
| collection | DOAJ |
| description | This paper concentrates on the predefined-time trajectory tracking for an uncertain robotic manipulator system. First, a modified predefined-time control (PTC) algorithm is proposed. Subsequently, with the help of proposed modified PTC algorithm and the nonsingular design method of terminal sliding mode, a novel nonsingular terminal sliding-mode control (NTSMC) scheme is proposed for ensuring the predefined-time convergence of tracking errors. The advantages of the newly proposed control scheme are as follows. (i) Unlike the conventional predefined-time sliding-mode control (SMC) which only guarantees the predefined-time convergence of sliding-mode surface, the proposed scheme can guarantee the predefined-time convergence of tracking errors. (ii) Compared with the conventional PTC algorithm, the proposed modified PTC algorithm can reduce the initial control peaking and enhance the precision of convergence time. The performance and effectiveness of the proposed control scheme are illustrated by comparing with the existing methods. |
| format | Article |
| id | doaj-art-0e21dcc7639c4178a504ab28535a5378 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-0e21dcc7639c4178a504ab28535a53782025-02-03T06:12:49ZengWileyComplexity1076-27871099-05262021-01-01202110.1155/2021/99919899991989Terminal Sliding-Mode Control of Uncertain Robotic Manipulator System with Predefined Convergence TimeYang Wang0Mingshu Chen1Yu Song2School of Science, Xijing University, Xi’an, ChinaSchool of Science, Xijing University, Xi’an, ChinaSchool of Science, Xijing University, Xi’an, ChinaThis paper concentrates on the predefined-time trajectory tracking for an uncertain robotic manipulator system. First, a modified predefined-time control (PTC) algorithm is proposed. Subsequently, with the help of proposed modified PTC algorithm and the nonsingular design method of terminal sliding mode, a novel nonsingular terminal sliding-mode control (NTSMC) scheme is proposed for ensuring the predefined-time convergence of tracking errors. The advantages of the newly proposed control scheme are as follows. (i) Unlike the conventional predefined-time sliding-mode control (SMC) which only guarantees the predefined-time convergence of sliding-mode surface, the proposed scheme can guarantee the predefined-time convergence of tracking errors. (ii) Compared with the conventional PTC algorithm, the proposed modified PTC algorithm can reduce the initial control peaking and enhance the precision of convergence time. The performance and effectiveness of the proposed control scheme are illustrated by comparing with the existing methods.http://dx.doi.org/10.1155/2021/9991989 |
| spellingShingle | Yang Wang Mingshu Chen Yu Song Terminal Sliding-Mode Control of Uncertain Robotic Manipulator System with Predefined Convergence Time Complexity |
| title | Terminal Sliding-Mode Control of Uncertain Robotic Manipulator System with Predefined Convergence Time |
| title_full | Terminal Sliding-Mode Control of Uncertain Robotic Manipulator System with Predefined Convergence Time |
| title_fullStr | Terminal Sliding-Mode Control of Uncertain Robotic Manipulator System with Predefined Convergence Time |
| title_full_unstemmed | Terminal Sliding-Mode Control of Uncertain Robotic Manipulator System with Predefined Convergence Time |
| title_short | Terminal Sliding-Mode Control of Uncertain Robotic Manipulator System with Predefined Convergence Time |
| title_sort | terminal sliding mode control of uncertain robotic manipulator system with predefined convergence time |
| url | http://dx.doi.org/10.1155/2021/9991989 |
| work_keys_str_mv | AT yangwang terminalslidingmodecontrolofuncertainroboticmanipulatorsystemwithpredefinedconvergencetime AT mingshuchen terminalslidingmodecontrolofuncertainroboticmanipulatorsystemwithpredefinedconvergencetime AT yusong terminalslidingmodecontrolofuncertainroboticmanipulatorsystemwithpredefinedconvergencetime |