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Finite time control of robotic manipulators with position output feedback

Abooee, A ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1002/rnc.3721
  3. Abstract:
  4. This paper deals with the robust finite time tracking of desired trajectories for a wide group of robotic manipulators in spite of unknown disturbances, uncertainties, and saturations of actuators while only manipulator's positions are available and its velocities are not measurable physically. A new form of chattering-free second order fast nonsingular terminal sliding mode control scheme is introduced to design input torques for fulfilling the determined tracking objective in the adjustable total finite settling time. The proposed control algorithm is incorporated with two nonlinear observers to estimate disturbances and velocities of joints within finite settling times. The global finite time stability of the closed-loop manipulator is analytically proved. Finally, a numerical simulation is carried out to verify the effectiveness of the designed input torques. Copyright © 2017 John Wiley & Sons, Ltd. Copyright © 2017 John Wiley & Sons, Ltd
  5. Keywords:
  6. Finite time disturbance observer ; Finite time velocity observer ; Second order fast nonsingular terminal sliding mode control ; Terminal sliding surface ; Discrete time control systems ; Feedback ; Flexible manipulators ; Robotics ; Sliding mode control ; Disturbance observer ; Finite settling time ; Non-singular terminal sliding mode controls ; Sliding surface ; Velocity observers ; Manipulators
  7. Source: International Journal of Robust and Nonlinear Control ; Volume 27, Issue 16 , 2017 , Pages 2982-2999 ; 10498923 (ISSN)
  8. URL: https://onlinelibrary.wiley.com/doi/abs/10.1002/rnc.3721