Adaptive Nonsingular Fast Terminal Sliding Mode Impedance Control for Uncertainty Robotic Manipulators

doi:10.1007/s12541-021-00589-9

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	Adaptive Nonsingular Fast Terminal Sliding Mode Impedance Control for Uncertainty Robotic Manipulators
	H. Sai; Z. Xu; Y. Li and K. Wang
	2021
发表期刊	International Journal of Precision Engineering and Manufacturing
ISSN	22347593
卷号	22 期号:12 页码:1947-1961
摘要	This paper describes an impedance controller that uses the fast terminal sliding mode and adaptive neural networks. The proposed controller improves the dynamic trajectory performance and force tracking accuracy of robotic manipulators in three-dimensional uncertain environments. The key idea of the controller is that the improved adaptive nonsingular fast terminal sliding mode (ANFTSMC) uses integral control to eliminates chattering without affecting the tracking performance. Also, adaptive neural networks are introduced into the sliding mode controller to provide a local approximation in the dynamic model of the robotic manipulator, and the stability is guaranteed through the Lyapunov theory. Finally, combined with impedance control, the operation of the robotic manipulator is simulated in environments containing various obstacle types, and experimental validation has demonstrated the effectiveness and superiority of the proposed control scheme. 2021, Korean Society for Precision Engineering.
DOI	10.1007/s12541-021-00589-9
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收录类别	SCI ; EI
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文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/65029
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,Y. Li and K. Wang. Adaptive Nonsingular Fast Terminal Sliding Mode Impedance Control for Uncertainty Robotic Manipulators[J]. International Journal of Precision Engineering and Manufacturing,2021,22(12):1947-1961.
APA	H. Sai,Z. Xu,&Y. Li and K. Wang.(2021).Adaptive Nonsingular Fast Terminal Sliding Mode Impedance Control for Uncertainty Robotic Manipulators.International Journal of Precision Engineering and Manufacturing,22(12),1947-1961.
MLA	H. Sai,et al."Adaptive Nonsingular Fast Terminal Sliding Mode Impedance Control for Uncertainty Robotic Manipulators".International Journal of Precision Engineering and Manufacturing 22.12(2021):1947-1961.

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