Continuous Sliding Mode Control of Robotic Manipulators Based on Time-Varying Disturbance Estimation and Compensation
To address the high-precision trajectory tracking task of uncertain robotic manipulators, a continuous sliding mode control (CSMC) scheme based on time-varying disturbance estimation and compensation is developed. The proposed control approach can not only avoid the chattering of the traditional sli...
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IEEE
2022-01-01
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Series: | IEEE Access |
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Online Access: | https://ieeexplore.ieee.org/document/9761255/ |
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author | Juan Xian Li Shen Junlin Chen Wenguo Feng |
author_facet | Juan Xian Li Shen Junlin Chen Wenguo Feng |
author_sort | Juan Xian |
collection | DOAJ |
description | To address the high-precision trajectory tracking task of uncertain robotic manipulators, a continuous sliding mode control (CSMC) scheme based on time-varying disturbance estimation and compensation is developed. The proposed control approach can not only avoid the chattering of the traditional sliding mode control (SMC) scheme and solve the problems existing in the application of the CSMC method but also make the robot obtain stronger disturbance rejection performance. Meanwhile, the stability of the closed-loop system under the recommended control approach is guaranteed by a defined Lyapunov function. Finally, the trajectory tracking and disturbance rejection performance of the 2-DOF robot under the action of the PID control, traditional SMC, CSMC, and present control methods are carried out, respectively. The results show the effectiveness and superiority of the proposed control method. |
first_indexed | 2024-04-13T08:56:49Z |
format | Article |
id | doaj.art-b3ad6073618c4a759ff7c893e1ba77f0 |
institution | Directory Open Access Journal |
issn | 2169-3536 |
language | English |
last_indexed | 2024-04-13T08:56:49Z |
publishDate | 2022-01-01 |
publisher | IEEE |
record_format | Article |
series | IEEE Access |
spelling | doaj.art-b3ad6073618c4a759ff7c893e1ba77f02022-12-22T02:53:15ZengIEEEIEEE Access2169-35362022-01-0110434734348010.1109/ACCESS.2022.31691509761255Continuous Sliding Mode Control of Robotic Manipulators Based on Time-Varying Disturbance Estimation and CompensationJuan Xian0https://orcid.org/0000-0002-2827-0809Li Shen1Junlin Chen2Wenguo Feng3Chongqing Key Laboratory of Public Big Data Security Technology, Chongqing College of Mobile Telecommunication, Chongqing, ChinaCollege of Communication and Information Engineering, Chongqing College of Mobile Telecommunication, Chongqing, ChinaCollege of Communication and Information Engineering, Chongqing College of Mobile Telecommunication, Chongqing, ChinaCollege of Communication and Information Engineering, Chongqing College of Mobile Telecommunication, Chongqing, ChinaTo address the high-precision trajectory tracking task of uncertain robotic manipulators, a continuous sliding mode control (CSMC) scheme based on time-varying disturbance estimation and compensation is developed. The proposed control approach can not only avoid the chattering of the traditional sliding mode control (SMC) scheme and solve the problems existing in the application of the CSMC method but also make the robot obtain stronger disturbance rejection performance. Meanwhile, the stability of the closed-loop system under the recommended control approach is guaranteed by a defined Lyapunov function. Finally, the trajectory tracking and disturbance rejection performance of the 2-DOF robot under the action of the PID control, traditional SMC, CSMC, and present control methods are carried out, respectively. The results show the effectiveness and superiority of the proposed control method.https://ieeexplore.ieee.org/document/9761255/Continuous sliding mode control (CSMC)time-varying disturbancesdisturbance estimationtrajectory tracking |
spellingShingle | Juan Xian Li Shen Junlin Chen Wenguo Feng Continuous Sliding Mode Control of Robotic Manipulators Based on Time-Varying Disturbance Estimation and Compensation IEEE Access Continuous sliding mode control (CSMC) time-varying disturbances disturbance estimation trajectory tracking |
title | Continuous Sliding Mode Control of Robotic Manipulators Based on Time-Varying Disturbance Estimation and Compensation |
title_full | Continuous Sliding Mode Control of Robotic Manipulators Based on Time-Varying Disturbance Estimation and Compensation |
title_fullStr | Continuous Sliding Mode Control of Robotic Manipulators Based on Time-Varying Disturbance Estimation and Compensation |
title_full_unstemmed | Continuous Sliding Mode Control of Robotic Manipulators Based on Time-Varying Disturbance Estimation and Compensation |
title_short | Continuous Sliding Mode Control of Robotic Manipulators Based on Time-Varying Disturbance Estimation and Compensation |
title_sort | continuous sliding mode control of robotic manipulators based on time varying disturbance estimation and compensation |
topic | Continuous sliding mode control (CSMC) time-varying disturbances disturbance estimation trajectory tracking |
url | https://ieeexplore.ieee.org/document/9761255/ |
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