Nonconservative adaptive practical predefined-time sliding mode tracking of uncertain robotic manipulators

doi:10.1002/rnc.6930

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	Nonconservative adaptive practical predefined-time sliding mode tracking of uncertain robotic manipulators
	H. Sai, Z. Xu and J. Cui
	2023
发表期刊	International Journal of Robust and Nonlinear Control
ISSN	10498923
卷号	33 期号:18 页码:11036-11061
摘要	In this article, a nonconservative predefined-time sliding mode control (SMC) scheme and an adaptive practical predefined-time SMC scheme are proposed for trajectory tracking of uncertain robotic manipulators. The nonconservative predefined-time SMCer can achieve strong predefined-time stability of a class of second-order systems without dynamic uncertainties and disturbances. Nonetheless, even in the dynamic uncertainties and disturbances, we show that the studied scheme provides a nonconservative upper bound of settling time. Moreover, considering the unknown coupling uncertainty of the robotic system, adaptive laws are proposed to estimate the upper bound of the coupling uncertainty. Based on the proposed practical predefined-time stability criterion, the designed adaptive practical predefined-time SMCer is shown that the tracking error of the system can converge to a neighborhood of the origin within a predefined time, and the proposed controller weakens the chattering and no prior knowledge of the upper bound of the system uncertainty is required. Several simulation examples are conducted to show the feasibility of the proposed controller, especially evaluating the robustness and the nonconservative settling time. © 2023 John Wiley & Sons Ltd.
DOI	10.1002/rnc.6930
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收录类别	sci ; ei
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/67820
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 and J. Cui. Nonconservative adaptive practical predefined-time sliding mode tracking of uncertain robotic manipulators[J]. International Journal of Robust and Nonlinear Control,2023,33(18):11036-11061.
APA	H. Sai, Z. Xu and J. Cui.(2023).Nonconservative adaptive practical predefined-time sliding mode tracking of uncertain robotic manipulators.International Journal of Robust and Nonlinear Control,33(18),11036-11061.
MLA	H. Sai, Z. Xu and J. Cui."Nonconservative adaptive practical predefined-time sliding mode tracking of uncertain robotic manipulators".International Journal of Robust and Nonlinear Control 33.18(2023):11036-11061.

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