A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability
In this paper, a robust observer-based control strategy for n-DOF uncertain robot manipulators with fixed-time stability was developed. The novel fixed-time nonsingular sliding mode surface enables control errors to converge to the equilibrium point quickly within fixed time without singularity. The...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-10-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/21/21/7084 |
| _version_ | 1797511805975658496 |
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| author | Anh Tuan Vo Thanh Nguyen Truong Hee-Jun Kang Mien Van |
| author_facet | Anh Tuan Vo Thanh Nguyen Truong Hee-Jun Kang Mien Van |
| author_sort | Anh Tuan Vo |
| collection | DOAJ |
| description | In this paper, a robust observer-based control strategy for n-DOF uncertain robot manipulators with fixed-time stability was developed. The novel fixed-time nonsingular sliding mode surface enables control errors to converge to the equilibrium point quickly within fixed time without singularity. The development of the novel fixed-time disturbance observer based on a uniform robust exact differentiator also allows uncertain terms and exterior disturbances to be proactively addressed. The designed observer can accurately approximate uncertain terms within a fixed time and contribute to significant chattering reduction in the traditional sliding mode control. A robust observer-based control strategy was formulated, according to a combination of the fixed-time nonsingular terminal sliding mode control method and the designed observer, to yield global fixed time stability for n-DOF uncertain robot manipulators. The proposed controller proved definitively that it was able to obtain global stabilization in fixed time. The approximation capability of the proposed observer, the convergence of the proposed sliding surface, and the effectiveness of the proposed control strategy in fixed time were fully confirmed by simulation performance on an industrial robot manipulator. |
| first_indexed | 2024-03-10T05:53:14Z |
| format | Article |
| id | doaj.art-c38dd609371a43e38877558ef8e67342 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T05:53:14Z |
| publishDate | 2021-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-c38dd609371a43e38877558ef8e673422023-11-22T21:36:21ZengMDPI AGSensors1424-82202021-10-012121708410.3390/s21217084A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time StabilityAnh Tuan Vo0Thanh Nguyen Truong1Hee-Jun Kang2Mien Van3Department of Electrical, Electronic and Computer Engineering, University of Ulsan, Ulsan 44610, KoreaDepartment of Electrical, Electronic and Computer Engineering, University of Ulsan, Ulsan 44610, KoreaDepartment of Electrical, Electronic and Computer Engineering, University of Ulsan, Ulsan 44610, KoreaSchool of Electronics, Electrical Engineering and Computer Science, Queen’s University Belfast, Belfast BT7 1NN, UKIn this paper, a robust observer-based control strategy for n-DOF uncertain robot manipulators with fixed-time stability was developed. The novel fixed-time nonsingular sliding mode surface enables control errors to converge to the equilibrium point quickly within fixed time without singularity. The development of the novel fixed-time disturbance observer based on a uniform robust exact differentiator also allows uncertain terms and exterior disturbances to be proactively addressed. The designed observer can accurately approximate uncertain terms within a fixed time and contribute to significant chattering reduction in the traditional sliding mode control. A robust observer-based control strategy was formulated, according to a combination of the fixed-time nonsingular terminal sliding mode control method and the designed observer, to yield global fixed time stability for n-DOF uncertain robot manipulators. The proposed controller proved definitively that it was able to obtain global stabilization in fixed time. The approximation capability of the proposed observer, the convergence of the proposed sliding surface, and the effectiveness of the proposed control strategy in fixed time were fully confirmed by simulation performance on an industrial robot manipulator.https://www.mdpi.com/1424-8220/21/21/7084uniform robust exact differentiatornonsingular terminal sliding mode controlfixed-time controlrobot manipulators |
| spellingShingle | Anh Tuan Vo Thanh Nguyen Truong Hee-Jun Kang Mien Van A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability Sensors uniform robust exact differentiator nonsingular terminal sliding mode control fixed-time control robot manipulators |
| title | A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability |
| title_full | A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability |
| title_fullStr | A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability |
| title_full_unstemmed | A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability |
| title_short | A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability |
| title_sort | robust observer based control strategy for n dof uncertain robot manipulators with fixed time stability |
| topic | uniform robust exact differentiator nonsingular terminal sliding mode control fixed-time control robot manipulators |
| url | https://www.mdpi.com/1424-8220/21/21/7084 |
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