Adaptive sliding mode disturbance rejection control with prescribed performance for robotic manipulators

Area of Science:

• Robotics
• Control Systems Engineering
• Mechatronics

Background:

• Robotic manipulators require precise trajectory tracking for effective operation.
• Uncertainties and external disturbances significantly degrade manipulator performance.
• Existing control methods often struggle to guarantee both transient and steady-state performance under disturbances.

Purpose of the Study:

• To develop an adaptive sliding mode control strategy for robotic manipulators.
• To ensure prescribed performance, including transient and steady-state accuracy, in trajectory tracking.
• To effectively reject disturbances and compensate for system uncertainties.

Main Methods:

• A transformation of tracking error using performance functions to define a nonsingular terminal sliding mode surface.
• Design of a continuous terminal sliding mode control (SMC) for system stabilization.
• Proposal of a novel sliding mode disturbance observer to estimate uncertainties and external disturbances.
• Development of an adaptive law, based on equivalent control principles, to handle unknown disturbance derivatives.

Main Results:

• The proposed adaptive sliding mode disturbance rejection control effectively achieves prescribed performance for robotic manipulators.
• Simulations demonstrate superior trajectory tracking accuracy and robustness against uncertainties and disturbances.
• The control strategy ensures stability and improves both transient response and steady-state error.

Conclusions:

• The developed control method offers a robust solution for high-performance trajectory tracking in robotic manipulators.
• The combination of adaptive control, SMC, and disturbance observation provides significant advantages in handling complex dynamic environments.
• The approach is validated through simulations, confirming its practical applicability and effectiveness.