Adaptive nonsingular fixed-time sliding mode control for uncertain robotic manipulators under actuator saturation

doi:10.1016/j.isatra.2021.05.011

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	Adaptive nonsingular fixed-time sliding mode control for uncertain robotic manipulators under actuator saturation
	H. Y. Sai; Z. B. Xu; S. He; E. Y. Zhang and L. Zhu
	2022
发表期刊	Isa Transactions
ISSN	0019-0578
卷号	123 页码:46-60
摘要	This paper describes an adaptive nonsingular fixed-time sliding mode control (ANFSMC) scheme under actuator saturation that can track the trajectory of a robotic manipulator under external disturbances and inertia uncertainties. First, a novel NFSMC that offers rapid convergence and avoids singularities is proposed for ensuring robotic manipulators global approximate fixed-time convergence. An ANFSMC is then developed for which the bound of the coupling uncertainty is not necessary to know in advance. The controller exhibits small absolute tracking errors and consumes little energy. An actuator saturation compensator is designed and shown to minimize the chattering of the system while accelerating the trajectory tracking. The proposed schemes are analyzed using Lyapunov stability theory, and their effectiveness and superiority are demonstrated through numerical simulations. (C) 2021 ISA. Published by Elsevier Ltd. All rights reserved.
DOI	10.1016/j.isatra.2021.05.011
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收录类别	sci ; ei
语种	英语
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文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/66385
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. Y. Sai,Z. B. Xu,S. He,et al. Adaptive nonsingular fixed-time sliding mode control for uncertain robotic manipulators under actuator saturation[J]. Isa Transactions,2022,123:46-60.
APA	H. Y. Sai,Z. B. Xu,S. He,&E. Y. Zhang and L. Zhu.(2022).Adaptive nonsingular fixed-time sliding mode control for uncertain robotic manipulators under actuator saturation.Isa Transactions,123,46-60.
MLA	H. Y. Sai,et al."Adaptive nonsingular fixed-time sliding mode control for uncertain robotic manipulators under actuator saturation".Isa Transactions 123(2022):46-60.

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