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A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability.

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This study introduces a novel control strategy for robot manipulators, ensuring stability in a fixed time. The approach effectively manages uncertainties and disturbances, reducing control errors and chattering for improved performance.

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fixed-time controlnonsingular terminal sliding mode controlrobot manipulatorsuniform robust exact differentiator

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Nonlinear Control Theory

Background:

  • Robot manipulators are susceptible to uncertainties and external disturbances, complicating precise control.
  • Traditional sliding mode control (SMC) methods often suffer from singularity issues and control signal chattering.
  • Achieving rapid and guaranteed convergence to a stable state (fixed-time stability) remains a challenge in uncertain systems.

Purpose of the Study:

  • To develop a robust observer-based control strategy for n-Degree-of-Freedom (n-DOF) uncertain robot manipulators.
  • To achieve global fixed-time stability, ensuring rapid convergence of control errors to zero.
  • To mitigate singularity issues and reduce chattering inherent in conventional control methods.

Main Methods:

  • Design of a novel fixed-time nonsingular sliding mode surface for fast error convergence without singularity.
  • Development of a fixed-time disturbance observer using a uniform robust exact differentiator to handle uncertainties and disturbances.
  • Formulation of a robust observer-based control strategy integrating the novel sliding mode control and the disturbance observer.

Main Results:

  • The proposed observer accurately approximates uncertain system terms within a fixed time.
  • Significant reduction in chattering compared to traditional sliding mode control was achieved.
  • The control strategy demonstrated global fixed-time stabilization for n-DOF uncertain robot manipulators.

Conclusions:

  • The developed robust observer-based control strategy guarantees global fixed-time stability for uncertain robot manipulators.
  • The novel fixed-time nonsingular sliding mode surface and disturbance observer effectively address system uncertainties and disturbances.
  • Simulation results on an industrial robot manipulator validate the observer's approximation capability, sliding surface convergence, and overall control strategy effectiveness.