Chattering-free Fast Fixed-time Sliding Mode Control for Uncertain Robotic Manipulators

doi:10.1007/s12555-021-0823-4

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	Chattering-free Fast Fixed-time Sliding Mode Control for Uncertain Robotic Manipulators
	H. Sai, Z. Xu, E. Zhang, C. Han and Y. Yu
刊名	International Journal of Control, Automation and Systems
	2023
卷号	21 期号:2 页码:630-644
ISSN号	15986446
DOI	10.1007/s12555-021-0823-4
英文摘要	In this paper, we introduce a dynamic controller that dedicates fixed-time trajectory tracking for uncertain robotic manipulators. First, a new nonlinear function is designed and applied to the fixed-time sliding mode (FSM) surface. The derivative of the proposed nonlinear function is continuous, which can ensure the continuity and smoothness of the control torque, and it makes the sliding surface facilitate fast convergence rates of the system tracking error. Then, a FSM control scheme is designed using the proposed sliding mode surface. Combined the Lyapunov stability theory, we show that the proposed controller has fixed-time convergence independent of the initial state of the system. Moreover, the proposed control scheme is advantageous in that the control torque is continuous without transient change. This eliminates the chattering of uncertain robotic manipulators and makes the control torque smoother. Simulation results show that a faster error convergence rate can be obtained with a smaller control torque range. Finally, the above-mentioned effectiveness and superiority of the proposed control scheme are validated using simulations and experimental results. © 2023, ICROS, KIEE and Springer.
URL标识	查看原文
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/67823]
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	H. Sai, Z. Xu, E. Zhang, C. Han and Y. Yu. Chattering-free Fast Fixed-time Sliding Mode Control for Uncertain Robotic Manipulators[J]. International Journal of Control, Automation and Systems,2023,21(2):630-644.
APA	H. Sai, Z. Xu, E. Zhang, C. Han and Y. Yu.(2023).Chattering-free Fast Fixed-time Sliding Mode Control for Uncertain Robotic Manipulators.International Journal of Control, Automation and Systems,21(2),630-644.
MLA	H. Sai, Z. Xu, E. Zhang, C. Han and Y. Yu."Chattering-free Fast Fixed-time Sliding Mode Control for Uncertain Robotic Manipulators".International Journal of Control, Automation and Systems 21.2(2023):630-644.