Fixed-Time Sliding Mode Control for Robotic Manipulators Based on Disturbance Observer
A novel controller using fixed-time sliding mode (FTSM) and fixed-time disturbance observer (FTDO) is proposed to achieve trajectory tracking control of robotic manipulators. First, the mathematical model is established for robots with dynamic model uncertainties and external disturbances. An FTSM c...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2024-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2024/1263459 |
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| _version_ | 1832543787276042240 |
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| author | Tianli Li Gang Zhang Tan Zhang Jing Pan |
| author_facet | Tianli Li Gang Zhang Tan Zhang Jing Pan |
| author_sort | Tianli Li |
| collection | DOAJ |
| description | A novel controller using fixed-time sliding mode (FTSM) and fixed-time disturbance observer (FTDO) is proposed to achieve trajectory tracking control of robotic manipulators. First, the mathematical model is established for robots with dynamic model uncertainties and external disturbances. An FTSM control strategy is presented where the integral terms of position errors are introduced into the existing sliding mode surface (SMS) to reduce the steady-state error of the system. The exponential form in the integral terms can provide an appropriate control force for tracking systems when the position errors are far from the sliding surface for a long time. Then, an FTDO is designed to obtain a precise estimation of lumped disturbances which can be used to weaken the impact of disturbances on the control accuracy. Finally, the fixed-time convergence properties of the tracking control system are demonstrated using Lyapunov stability theory. Simulation research is carried out to illustrate that the proposed control strategy has strong robustness and fast-tracking speed. |
| format | Article |
| id | doaj-art-977f91d865ef4f9aab0ba83857f52773 |
| institution | Kabale University |
| issn | 1687-5974 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-977f91d865ef4f9aab0ba83857f527732025-02-03T11:26:47ZengWileyInternational Journal of Aerospace Engineering1687-59742024-01-01202410.1155/2024/1263459Fixed-Time Sliding Mode Control for Robotic Manipulators Based on Disturbance ObserverTianli Li0Gang Zhang1Tan Zhang2Jing Pan3School of Intelligent ManufacturingAnhui Undergrowth Crop Intelligent Equipment Engineering Research CenterAnhui Undergrowth Crop Intelligent Equipment Engineering Research CenterAnhui Undergrowth Crop Intelligent Equipment Engineering Research CenterA novel controller using fixed-time sliding mode (FTSM) and fixed-time disturbance observer (FTDO) is proposed to achieve trajectory tracking control of robotic manipulators. First, the mathematical model is established for robots with dynamic model uncertainties and external disturbances. An FTSM control strategy is presented where the integral terms of position errors are introduced into the existing sliding mode surface (SMS) to reduce the steady-state error of the system. The exponential form in the integral terms can provide an appropriate control force for tracking systems when the position errors are far from the sliding surface for a long time. Then, an FTDO is designed to obtain a precise estimation of lumped disturbances which can be used to weaken the impact of disturbances on the control accuracy. Finally, the fixed-time convergence properties of the tracking control system are demonstrated using Lyapunov stability theory. Simulation research is carried out to illustrate that the proposed control strategy has strong robustness and fast-tracking speed.http://dx.doi.org/10.1155/2024/1263459 |
| spellingShingle | Tianli Li Gang Zhang Tan Zhang Jing Pan Fixed-Time Sliding Mode Control for Robotic Manipulators Based on Disturbance Observer International Journal of Aerospace Engineering |
| title | Fixed-Time Sliding Mode Control for Robotic Manipulators Based on Disturbance Observer |
| title_full | Fixed-Time Sliding Mode Control for Robotic Manipulators Based on Disturbance Observer |
| title_fullStr | Fixed-Time Sliding Mode Control for Robotic Manipulators Based on Disturbance Observer |
| title_full_unstemmed | Fixed-Time Sliding Mode Control for Robotic Manipulators Based on Disturbance Observer |
| title_short | Fixed-Time Sliding Mode Control for Robotic Manipulators Based on Disturbance Observer |
| title_sort | fixed time sliding mode control for robotic manipulators based on disturbance observer |
| url | http://dx.doi.org/10.1155/2024/1263459 |
| work_keys_str_mv | AT tianlili fixedtimeslidingmodecontrolforroboticmanipulatorsbasedondisturbanceobserver AT gangzhang fixedtimeslidingmodecontrolforroboticmanipulatorsbasedondisturbanceobserver AT tanzhang fixedtimeslidingmodecontrolforroboticmanipulatorsbasedondisturbanceobserver AT jingpan fixedtimeslidingmodecontrolforroboticmanipulatorsbasedondisturbanceobserver |