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...

Full description

Bibliographic Details
Main Authors: Juan Xian, Li Shen, Junlin Chen, Wenguo Feng
Format: Article
Language:English
Published: IEEE 2022-01-01
Series:IEEE Access
Subjects:
Online Access:https://ieeexplore.ieee.org/document/9761255/
_version_ 1811307066531250176
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/
work_keys_str_mv AT juanxian continuousslidingmodecontrolofroboticmanipulatorsbasedontimevaryingdisturbanceestimationandcompensation
AT lishen continuousslidingmodecontrolofroboticmanipulatorsbasedontimevaryingdisturbanceestimationandcompensation
AT junlinchen continuousslidingmodecontrolofroboticmanipulatorsbasedontimevaryingdisturbanceestimationandcompensation
AT wenguofeng continuousslidingmodecontrolofroboticmanipulatorsbasedontimevaryingdisturbanceestimationandcompensation