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Fixed-time terminal sliding mode control for uncertain robot manipulators.

Liyin Zhang¹, Yuxin Su², Zeng Wang³

¹School of Automation, Xi'an University of Posts and Telecommunications, Xi'an 710121, China; Xi'an Key Laboratory of Advanced Control and Intelligent Process, China.

ISA Transactions

|November 3, 2023

Summary

This study introduces a novel fixed-time control for robot manipulators, overcoming uncertainties and disturbances. It achieves precise trajectory tracking with faster convergence and improved stability, eliminating common control issues.

Keywords:

Fixed-time stability Robot manipulators Robust control Terminal sliding mode control Uncertain systems

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Area of Science:

Robotics
Control Systems Engineering
Mechatronics

Background:

Robot manipulators often face challenges with parametric uncertainties and external disturbances, impacting tracking accuracy.
Traditional sliding mode controls (SMC) can suffer from singularity and algebraic loop problems, complicating implementation and performance.
Achieving precise and robust trajectory tracking in fixed-time remains a significant challenge in robotics.

Purpose of the Study:

To develop a robust fixed-time tracking control strategy for robot manipulators.
To address and eliminate singularity and algebraic loop issues inherent in conventional sliding mode controls.
To enhance trajectory tracking precision and convergence speed for uncertain robotic systems.

Main Methods:

A novel auxiliary function is introduced to construct a fixed-time sliding manifold.
A singularity-free robust control law is derived based on the proposed sliding manifold.
The control strategy is designed to guarantee exact fixed-time stability, independent of initial conditions.

Main Results:

The proposed control method ensures exact fixed-time stability, with predictable convergence times.
Singularity and algebraic loop problems commonly associated with SMC are completely eliminated.
Simulations and experiments demonstrate superior tracking performance, faster transient response, and higher steady-state precision.

Conclusions:

The developed fixed-time tracking control offers a robust and effective solution for uncertain robot manipulators.
The approach provides a simple yet powerful control structure, facilitating practical implementation.
This method significantly advances the state-of-the-art in high-precision robotic trajectory tracking.