Journal of Jilin University(Engineering and Technology Edition) ›› 2020, Vol. 50 ›› Issue (2): 464-471.doi: 10.13229/j.cnki.jdxbgxb20181083

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Trajectory tracking of robotic manipulators based on fast nonsingular terminal sliding mode

Wei WANG1,2(),Jian-ting ZHAO1,2,Kuan-rong HU3,Yong-cang GUO4   

  1. 1.School of Aerospace Engineering，Beijing Institute of Technology，Beijing 100081，China
    2.Beijing Key Laboratory of UAV Autonomous Control Technology，Beijing Institute of Technology，Beijing 100081，China
    3.Research and Design Institute，Northwest Industrial Group，Xi'an 710299，China
    4.Quality Department，Northwest Industrial Group，Xi'an 710299，China
  • Received:2018-10-27 Online:2020-03-01 Published:2020-03-08

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Abstract:

To drive the robotic manipulator tracking the desired trajectory, a novel modern control method based on the nonsingular terminal sliding mode is designed in this paper. Combining the traditional fast terminal sliding mode and the nonsingular terminal sliding mode, the proposed control method possesses the characteristics of rapidity, nonsingularity, finite-time convergence and strong robustness. The chattering from sliding mode controller can also be suppressed effectively. Here, the mathematical model of robotic manipulator structure which can be simplified as a 2-DOF rigid linkage system is built, firstly. Next, a robust controller is designed. Then, the Lyapunov function is constructed to verify its stability. Finally, detailed simulations with some comparisons demonstrate the effectiveness of the proposed method.

Key words: automatic control technology, manipulator control, terminal sliding mode control theory, nonsingularity, finite-time convergence

CLC Number: 

  • TP273

Fig.1

Planar 2-DOF link model"

Fig.2

Saturation function images under different parameter δ conditions"

Table 1

Sliding mode and controller design parameters"

滑模及控制器βabε
FTSM7.5535
NTSM7.5535
FNTSM7.5535

Fig.3

Two-pole angular position tracking"

Fig.7

Two-pole control input torque"

Fig.6

Two-pole angular velocity tracking error"

Fig.4

Two-pole angular velocity tracking"

Fig.5

Two-pole angular position tracking error"

Table 2

Control parameters"

Caseβλα
17.50150100
23.75150100
37.507550

Fig.8

Comparing simulation results of three cases"

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