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Proposing a Novel Fixed-Time Non-Singular Terminal Sliding Mode Surface for Motion Tracking Control of Robot Manipulators

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Abstract
This article proposes a new fixed-time non-singular terminal sliding mode (FxNTSM) surface for synthesizing the tracking control algorithm of robotic ma-nipulators. The new sliding mode surface has no singularity, improved conver-gence speed. It contains dynamic coefficients that can be adapted to control errors that drive the system states quickly converge to the equilibrium point within bounded convergence time regardless of initial system states. The settling time of the sliding motion phase is fully calculated in both cases, including the initial state of the system is far/near the equilibrium stability point. A novel finite-time NTSMC (FnNTSMC) is formed from a combination of the proposed sliding sur-face and auxiliary reaching control law (ARCL). Due to the advantages of the proposed sliding surface and mentioned reaching control law, therefore, the novel finite-time control system provides superior characteristics such as high tracking accuracy, improved fast convergence, and robustness to cope with the lumped uncertainties. The fixed time/finite-time stability and convergence of the control method are validated by using the Lyapunov criteria. Computer simulations ap-plied to a 3-DOF robotic manipulator are presented to verify the effectiveness and outstanding properties of the proposed control method
Author(s)
보 안 뚜안츠엉 탄 웬강희준Tien Dung Le
Issued Date
2021
Type
Article
Keyword
Fixed-time controlNon-singular terminal sliding mode controlRobot manipulators
DOI
10.1007/978-3-030-84529-2_17
URI
https://oak.ulsan.ac.kr/handle/2021.oak/9113
https://ulsan-primo.hosted.exlibrisgroup.com/primo-explore/fulldisplay?docid=TN_cdi_springer_books_10_1007_978_3_030_84529_2_17&context=PC&vid=ULSAN&lang=ko_KR&search_scope=default_scope&adaptor=primo_central_multiple_fe&tab=default_tab&query=any,contains,Proposing%20a%20Novel%20Fixed-Time%20Non-Singular%20Terminal%20Sliding%20Mode%20Surface%20for%20Motion%20Tracking%20Control%20of%20Robot%20Manipulators&offset=0&pcAvailability=true
Publisher
Lecture Notes in Computer Science
Location
네덜란드
Language
영어
ISSN
0302-9743
Citation Volume
12837
Citation Number
1
Citation Start Page
194
Citation End Page
206
Appears in Collections:
Engineering > Aerospace Engineering
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