Adaptive nonsingular terminal sliding mode control of robot manipulator based on contour error compensation

Abstract

To achieve accurate contour tracking of robotic manipulators with system uncertainties, external disturbance and actuator faults, a cross-coupling contour adaptive nonsingular terminal sliding mode control (CCCANTSMC) is proposed. A nonsingular terminal sliding mode manifold is developed which eliminates the singularity completely. In order to avoid the demand of the prior knowledge of system uncertainties, external disturbance and actuator faults in practical applications, an adaptive tuning approach is proposed. The stability of the proposed control strategy is demonstrated by the finite-time stability theory. Then, the developed controller combines adaptive nonlinear terminal sliding mode control (ANTSMC) of joint trajectory tracking and proportion–differentiation control of end-effector contour tracking by introducing the coupling factor between multiple axes based on Jacobian. Moreover, a unified framework of cross-coupling contour compensation and reference position pre-compensation is built. Finally, numerical simulation and experimental results validate the effectiveness of the proposed control strategy.

Adaptive End-Effector Buffeting Sliding Mode Control for Heavy-Duty Robots with Long Arms

“…Lagrange equations [17] and Newton-Euler methods are commonly used to model the dynamics of robots. In this paper, the Lagrange equation [18] is used to establish the dynamic equation of long-arm heavy-duty robots.…”

“…Property 1: The inertia matrix D x (q) is symmetric and positive definite. Property 2: The matrix Ḋx (q) − 2C x (q, q) is skew symmetric [17].…”