Adaptive second-order fast nonsingular terminal sliding mode control for robotic manipulators.

Area of Science:

• Robotics
• Control Systems Engineering
• Applied Mathematics

Background:

• Robotic manipulators require precise trajectory tracking for effective operation.
• External disturbances and uncertainties in inertia parameters pose significant challenges to achieving robust control.
• Chattering in sliding mode controllers can degrade performance and lead to undesirable system behavior.

Purpose of the Study:

• To develop an adaptive, chattering-free sliding mode controller for robotic manipulators.
• To enhance trajectory tracking accuracy and system robustness against disturbances and uncertainties.
• To eliminate chattering phenomena in the control law for smoother operation.

Main Methods:

• Design of a second-order fast nonsingular terminal sliding mode (SOFNTSM) controller.
• Implementation of a continuous control law to mitigate chattering.
• Integration of an adaptive technique to compensate for system uncertainties without requiring prior knowledge of their bounds.

Main Results:

• The proposed SOFNTSM controller ensures fast convergence and high tracking precision.
• Chattering is effectively eliminated through the continuous control law design.
• The adaptive component successfully compensates for system uncertainties, demonstrating robust stability.
• Simulation results confirm the effectiveness of the developed control scheme.

Conclusions:

• The adaptive chattering-free sliding mode controller provides a robust and precise solution for robotic manipulator trajectory tracking.
• The SOFNTSM approach effectively addresses challenges posed by external disturbances and inertia uncertainties.
• The proposed control strategy offers significant advantages in terms of performance, stability, and practical implementation.