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Nonsingular fast predefined time convergence sliding mode control for construction robot.

Chun-Wu Yin1, Yun-Peng Ding1, Hou-Jun Sun2

  • 1College of Information and Control Engineering, Xi'an University of Architecture and Technology, Xi'an, Shaanxi 710055, China.

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Summary
This summary is machine-generated.

This study introduces a new control strategy for construction robots to accurately track desired trajectories from any starting angle. The method ensures precise angle tracking and reduces control torque chatter.

Keywords:
Construction RobotNonlinear SystemPredefined Time ConvergenceSliding Mode ControlState Observer

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Mechanical Engineering

Background:

  • Construction robots require precise trajectory tracking for complex tasks.
  • Existing control methods struggle with arbitrary initial conditions and ensure rapid convergence.
  • Control torque chattering is a persistent issue in robot control.

Purpose of the Study:

  • To develop a robust control strategy for construction robots to achieve complete and accurate trajectory tracking.
  • To design a sliding mode controller with predefined time convergence for uncertain robot dynamics.
  • To address the challenge of arbitrary initial values in robot trajectory tracking.

Main Methods:

  • Analysis of construction robot trajectory tracking control characteristics.
  • Proposal of an extended desired trajectory control strategy with arrival and precise tracking phases.
  • Design of a predefined time convergence sliding mode controller using an improved non-singular fast sliding mode surface and a novel stability criterion.
  • Integration of a state observer for enhanced control.

Main Results:

  • The proposed algorithm achieves angle tracking error convergence to zero within a specified time.
  • Demonstrated complete and accurate tracking of the original desired trajectory.
  • Achieved an angle tracking error of 0.0004 rad, representing a 33% accuracy improvement.
  • Successfully mitigated the problem of control torque chattering.

Conclusions:

  • The developed control strategy effectively enables construction robots to track desired trajectories accurately, regardless of initial conditions.
  • The predefined time convergence sliding mode controller offers superior performance and robustness for uncertain robotic systems.
  • The findings contribute to enhanced precision and efficiency in automated construction operations.