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Fixed-Time Global Sliding Mode Control for Parallel Robot Mobile Platform with Prescribed Performance.

Aojie Wang¹, Guoqin Gao¹, Xue Li¹

¹School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China.

Sensors (Basel, Switzerland)

|March 17, 2025

Summary

This summary is machine-generated.

This study introduces a novel fixed-time global sliding mode control for parallel robot mobile platforms with varying centers of mass. The method enhances robustness and ensures rapid, overshoot-free convergence despite uncertainties.

Keywords:

fixed time control global sliding mode prescribed performance control trajectory tracking

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Area of Science:

Robotics
Control Systems Engineering
Mechatronics

Background:

Parallel robot mobile platforms with varying centers of mass face challenges from model uncertainties and external disturbances.
Existing control methods may suffer from long convergence times or significant overshoots.
Robust and efficient control is crucial for precise mobile platform operation.

Purpose of the Study:

To develop a fixed-time global sliding mode control (GSMC) strategy for parallel robot mobile platforms with a varying center of mass.
To enhance the global robustness and convergence performance of the system.
To minimize system overshoots and ensure prescribed performance.

Main Methods:

Establishment of kinematic and dynamic models for the parallel robot mobile platform with a varying center of mass.
Design of a back-stepping outer-loop controller to generate reference velocities.
Implementation of a fixed-time global sliding mode control algorithm with a prescribed performance function for the inner loop.
Theoretical stability analysis using Lyapunov functions.

Main Results:

The proposed fixed-time GSMC eliminates the sliding mode reaching phase, ensuring rapid convergence within a fixed time.
Prescribed performance constraints effectively reduce system overshoots.
Lyapunov stability analysis confirms the theoretical robustness and convergence properties.
Simulation experiments validate the effectiveness and superiority of the proposed control method.

Conclusions:

The developed fixed-time global sliding mode control with prescribed performance offers a robust and efficient solution for parallel robot mobile platforms with varying centers of mass.
This control strategy significantly improves convergence speed and reduces overshoots compared to conventional methods.
The approach provides a reliable framework for enhancing the performance and stability of uncertain dynamic systems.