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Sliding mode controller by using adaptive exponential reaching law based on nonlinear disturbance observer.

Ying Liu1, Gongfa Li2, Du Jiang3

  • 1Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China; Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of science and Technology, Wuhan 430081, China.

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Summary
This summary is machine-generated.

This study introduces a new control method for flexible jointed manipulators, enhancing position tracking accuracy and speed by suppressing disturbances. The integrated nonlinear disturbance observer and adaptive control significantly reduce trajectory errors.

Keywords:
AERLAERL-NFTSMChatteringConvergence accuracyFlexible jointed manipulator

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Area of Science:

  • Robotics and Control Systems
  • Mechatronics Engineering
  • Applied Mathematics

Background:

  • Flexible jointed manipulators are susceptible to uncertainties and external disturbances, complicating precise position tracking.
  • Existing control methods often struggle with finite-time disturbance suppression and exhibit control input chattering.

Purpose of the Study:

  • To develop an advanced control strategy for flexible jointed manipulators that addresses uncertainties and external disturbances.
  • To improve trajectory tracking accuracy, convergence speed, and reduce control chattering.

Main Methods:

  • Integration of a nonlinear disturbance observer (NDOB) for finite-time disturbance suppression.
  • Application of a non-singular fast terminal sliding mode (NFTSM) control.
  • Utilization of an adaptive exponential reaching law (AERL) for enhanced tracking performance.

Main Results:

  • Simulations demonstrated a 1.3% reduction in trajectory tracking error and improved convergence speed compared to optimal adaptive reaching laws.
  • Experimental validation confirmed a 0.545% reduction in trajectory tracking error.
  • The proposed NDOB effectively suppressed time-varying disturbances within a finite time.

Conclusions:

  • The proposed integrated NDOB and NFTSM control method with AERL offers superior performance for flexible jointed manipulator position tracking.
  • The method effectively mitigates uncertainties and external disturbances, leading to enhanced accuracy and faster convergence.
  • This approach provides a robust solution for real-world robotic control applications.