Continuous Sliding Mode Control of Robotic Manipulators Based on Time-Varying Disturbance Estimation and Compensation

IEEE Access

Juan Xian¹  Li Shen²  Junlin Chen²  Wenguo Feng² 

[1] Chongqing Key Laboratory of Public Big Data Security Technology, Chongqing College of Mobile Telecommunication, Chongqing, China;College of Communication and Information Engineering, Chongqing College of Mobile Telecommunication, Chongqing, China;

关键词: Continuous sliding mode control (CSMC);    time-varying disturbances;    disturbance estimation;    trajectory tracking;   

DOI  :  10.1109/ACCESS.2022.3169150

来源: DOAJ

【 摘 要 】

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.

【 授权许可】

Unknown