Backstepping finite time sliding mode control for multi-joint manipulator with total disturbance
CSTR:
Author:
Clc Number:

TP241

  • Article
  • | |
  • Metrics
  • |
  • Reference [22]
  • |
  • Related
  • | | |
  • Comments
    Abstract:

    In this paper, a backstepping finite time sliding mode control algorithm considering the system total disturbance is designed for the trajectory tracking control of multi-joint manipulator with model parametric perturbation and external bounded disturbances. Firstly, the system dynamics model is formulated as a strict feedback form, and the uncertainty factors such as model parameter perturbation and external bounded disturbances are considered as the total disturbance of the system which is then estimated by a nonlinear extended state observer developed for improving the robust performance of the system. Secondly, the backstepping finite time sliding mode controller is designed based on the traditional backstepping method and the finite time sliding mode control technique. Finally, the Lyapunov stability theory is employed to prove that the position vector of the multi-joint manipulator can stably track the desired position vector within finite time. The comparison of simulation results is presented to verify the effectiveness of the proposed method.

    Reference
    [1] Liu H, Tian X, Wang G, et al. Robust H finite-time stability control of a class of nonlinear systems[J]. Applied Mathematical Modelling, 2016, 40(4):5111-5122.
    [2] Anne D, Guillaume J L, Yassine H. Robust control of a planar manipulator for flexible and contactless handling[J]. Mechatronics, 2012, 22(6):852-861.
    [3] Schnelle F, Eberhard P. Adaptive nonlinear model predictive control design of a flexible-link manipulator with uncertain parameters[J]. Acta Mechanica Sinica, 2017, 33(3):529-542.
    [4] Durmus B, Temurtas H, Yumusak N. A study on industrial robotic manipulator model using model based predictive controls[J]. Journal of Intelligent Manufacturing, 2009, 20(2):233-241.
    [5] Dubay R, Hassan M, Li C, et al. Finite element based model predictive control for active vibration suppression of a one-link flexible manipulator[J]. Isa Transactions, 2014, 53(5):1609-1619.
    [6] 徐智浩,李胜,张瑞雷,等.基于LuGre摩擦模型的机械臂模糊神经网络控制[J].控制与决策,2014,29(6):1097-1102.XU Zhihao, LI Sheng, ZHANG Ruilei, et al. Fuzzy-neural-network control for robot manipulators with LuGre friction model[J]. Control and Decision, 2014, 29(6):1097-1102. (in Chinese)
    [7] Yang R, Yang C, Chen M, et al. Discrete-time optimal adaptive rbfnn control for robot manipulators with uncertain dynamics[J]. Neurocomputing, 2017, 234(2):107-115.
    [8] Kumar N, Sharma S P, Sharma S P. Neural network-based nonlinear tracking control of kinematically redundant robot manipulators[J]. Mathematical & Computer Modelling, 2011, 53(9):1889-1901.
    [9] Veysi M, Soltanpour M R. Voltage-base control of robot manipulator using adaptive fuzzy sliding mode control[J]. International Journal of Fuzzy Systems,2017,19(5):1430-1443.
    [10] Mondal S, Mahanta C. Adaptive second order terminal sliding mode controller for robotic manipulators[J]. Journal of the Franklin Institute, 2014, 351(4):2356-2377.
    [11] Corradini M L, Fossi V, Giantomassi A, et al. Discrete time sliding mode control of robotic manipulators:development and experimental validation[J]. Control Engineering Practice, 2012, 20(8):816-822.
    [12] Zhao Z, Yang J, Li S. Finite-time super-twisting sliding mode control for mars entry trajectory tracking[J]. Journal of the Franklin Institute, 2015, 352(11):5226-5248.
    [13] Ding S, Li S. Stabilization of the attitude of a rigid spacecraft with external disturbances using finite-time control techniques[J]. Aerospace Science & Technology, 2009, 13(4):256-265.
    [14] Tran M D, Kang H J. Adaptive terminal sliding mode control of uncertain robotic manipulators based on local approximation of a dynamic system[J]. Neurocomputing, 2017, 228(2):231-240.
    [15] Castaneda H, Salas-Pena O S. Extended observer based on adaptive second order sliding mode control for a fixed wing UAV[J]. Isa Transactions, 2017, 66(1):226-323.
    [16] Lu K, Xia Y, Shen G. Sliding mode control for mars entry based on extended state observer[J]. Advances in Space Research, 2017, 60(9):2009-2020.
    [17] Chen Q, Yu L, Nan Y. Finite-time tracking control for motor servo systems with unknown dead-zones[J]. Journal of Systems Science & Complexity, 2013, 26(6):940-956.
    [18] Barambones O, Etxebarria V. Energy-based approach to sliding composite adaptive control for rigid robots with finite error convergence time[J]. International Journal of Control, 2002, 75(5):352-359.
    [19] Tang Y. Terminal sliding mode control for rigid robots[J]. Automatica, 1998, 34(1):51-56.
    [20] Song Z, Sun K. Adaptive backstepping sliding mode control with fuzzy monitoring strategy for a kind of mechanical system[J]. Isa Transactions, 2014, 53(1):125-133.
    [21] Sun Y, Wu X, Bai L. Finite-time synchronization control and parameter identification of uncertain permanent magnet synchronous motor[J]. Neurocomputing, 2016, 207(5):511-518.
    [22] 王芳,宗群,田栢苓,等.再入飞行器带有干扰观测器的有限时间控制[J].控制理论与应用,2016,33(11):1527-1534.WANG Fang, ZONG Qun, TIAN Bailing, et al. Finite time control design for re-entry hypersonic vehicle with disturbance observer[J]. Control Theory & Applications, 2016, 33(11):1527-1534. (in Chinese)
    Related
    Cited by
Get Citation

郭一军,徐建明.考虑系统总和扰动的多关节机械臂反步有限时间滑模控制[J].重庆大学学报,2019,42(7):114~122

Copy
Share
Article Metrics
  • Abstract:
  • PDF:
  • HTML:
  • Cited by:
History
  • Received:March 05,2019
  • Online: July 27,2019
Article QR Code