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Chattering-free Fast Fixed-time Sliding Mode Control for Uncertain Robotic Manipulators

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Abstract

In this paper, we introduce a dynamic controller that dedicates fixed-time trajectory tracking for uncertain robotic manipulators. First, a new nonlinear function is designed and applied to the fixed-time sliding mode (FSM) surface. The derivative of the proposed nonlinear function is continuous, which can ensure the continuity and smoothness of the control torque, and it makes the sliding surface facilitate fast convergence rates of the system tracking error. Then, a FSM control scheme is designed using the proposed sliding mode surface. Combined the Lyapunov stability theory, we show that the proposed controller has fixed-time convergence independent of the initial state of the system. Moreover, the proposed control scheme is advantageous in that the control torque is continuous without transient change. This eliminates the chattering of uncertain robotic manipulators and makes the control torque smoother. Simulation results show that a faster error convergence rate can be obtained with a smaller control torque range. Finally, the above-mentioned effectiveness and superiority of the proposed control scheme are validated using simulations and experimental results.

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Authors and Affiliations

  1. CAS Key Laboratory of On-orbit Manufacturing and Integration for Space Optics System, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun, 130033, China

    Huayang Sai, Zhenbang Xu, Enyang Zhang, Chunyang Han & Yang Yu

  2. University of Chinese Academy of Sciences, Beijing, 100049, China

    Huayang Sai

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  1. Huayang Sai
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  2. Zhenbang Xu
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Correspondence to Zhenbang Xu.

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This work was partially supported by the National Natural Science Foundation of China (11972343).

Huayang Sai received a B.E. degree in School of Mechanical and Electronic Engineering form Northwest Agriculture and Forestry University, Yangling, China, in 2018. He is now a Ph.D. candidate in Mechanical Engineering and Automation, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Science, China. He is also currently pursuing the degree with the College of Optoelectronics, University of Chinese Academy of Sciences, Beijing. His current research interests include medical robot, robot impedance control.

Zhenbang Xu received the B.E. degree from the Department of Theoretical and Applied Mechanics, Chinese Academy of Sciences University, Hefei, China, in 2005, and the Ph.D. degree from the Chinese Academy of Sciences University, in 2010, where he is currently with the Changchun Institute of Optics, Fine Mechanics and Physics. His research interests include space intelligent robot, multi-dimensional precision adjustment mechanism, space structure dynamics, and microvibration control.

Enyang Zhang received the B.E. degree from the Department of Mechanical Engineering and Automation, Nanjing University of Aeronautics and Astronautics, Nanjing, China, in 2010, and the M.E. degree from Nanjing University of Aeronautics and Astronautics, in 2013, where he is currently with the Changchun Institute of Optics, Fine Mechanics and Physics. His research interests include space intelligent robot, and space structure dynamics.

Chunyang Han received the B.E. and M.S. degree from Jilin University, Changchun, China, in 2011, and the Ph.D.degree from the Chinese Academy of Sciences University, in 2020, where he is currently with the Changchun Institute of Optics, Fine Mechanics and Physics. His research interests include the structural design, mechanism research, simulation and experimental testing of the parallel robot and the space optical adjustment.

Yang Yu received the Ph.D. degree from the Changchun Institute of Optics, Fine Mechanics and Physics (CIOMP), Chinese Academy of Sciences (CAS) in 2016, where he is currently an associate researcher in the Changchun Institute of Optics, Fine Mechanics and Physics. His research interests include parallel robots, space intelligent robot.

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Sai, H., Xu, Z., Zhang, E. et al. Chattering-free Fast Fixed-time Sliding Mode Control for Uncertain Robotic Manipulators. Int. J. Control Autom. Syst. 21, 630–644 (2023). https://doi.org/10.1007/s12555-021-0823-4

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  • DOI: https://doi.org/10.1007/s12555-021-0823-4

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