Observer-based free-will arbitrary time sliding mode control for uncertain robotic manipulators

doi:10.1177/10775463221138327

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	Observer-based free-will arbitrary time sliding mode control for uncertain robotic manipulators
	H. Sai; Z. B. Xu; T. Y. Han; X. M. Wang and H. Li
	2022
发表期刊	Journal of Vibration and Control
ISSN	1077-5463
页码	12
摘要	This paper studies a free-will arbitrary time sliding mode control (FATSMC) based on the predefined-time sliding mode observer (PTSMO) for tracking control of robotic manipulators. First, a PTSMO is constructed to estimate the coupled uncertainty of the robotic manipulator system in a preset time. Then, a FATSMC scheme is proposed to realize the free-will arbitrary time tracking control for uncertain robotic manipulators and preset the upper bound on the settling time in the reaching phase. The proposed control strategy has high tracking accuracy and smooth control torque, while the convergence time of the system is nonconservative. The stability of the FATSMC and the PTSMO are rigorously demonstrated using the Lyapunov stability theory. Finally, a three-degree-of-freedom uncertain manipulator is utilized for numerical simulation. The effectiveness and superiority of the proposed control strategy are demonstrated by comparing it with several control strategies.
DOI	10.1177/10775463221138327
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收录类别	sci ; ei
语种	英语
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/66929
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. B. Xu,T. Y. Han,et al. Observer-based free-will arbitrary time sliding mode control for uncertain robotic manipulators[J]. Journal of Vibration and Control,2022:12.
APA	H. Sai,Z. B. Xu,T. Y. Han,&X. M. Wang and H. Li.(2022).Observer-based free-will arbitrary time sliding mode control for uncertain robotic manipulators.Journal of Vibration and Control,12.
MLA	H. Sai,et al."Observer-based free-will arbitrary time sliding mode control for uncertain robotic manipulators".Journal of Vibration and Control (2022):12.

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