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Extended State Observer Based Adaptive Backstepping Nonsingular Fast Terminal Sliding-mode Control for Robotic Manipulators with Uncertainties

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Abstract

This paper proposes a novel robust finite-time tracking control scheme for robotic manipulators with uncertainties and external disturbances. In order to reduce the chattering phenomenon and enhance the robustness of the system, we design a novel extended state observer with filter function for estimating the lumped term of system uncertainties and external disturbances. We adopt the backstepping mechanism to design an adaptive backstepping nonsingular fast terminal sliding mode controller, achieve finite time convergence of the tracking errors while avoiding the singularity problem. An adaptive update law is designed for the switching gain, which further weakens the chattering problem. The finite-time convergence of tracking errors and the stability of the closed-loop system are ensured by the Lyapunov criterion. In comparison with other control methods, numerical simulation on a two-link rigid robot manipulator demonstrates the effectiveness and superiority of the proposed method.

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Author information

Authors and Affiliations

  1. College of Information Engineering, Nanchang University, Nanchang, Jiangxi, 330031, China

    Zhenghong Xu, Xiaohui Yang, Wenjie Zhang, Wei Zhang & Shuang Yang

  2. State Grid Hukou County Electric Power Supply Branch, Jiujiang Jiangxi, 332500, China

    Siyi Zhou

  3. Department of Systems and Computer Engineering, Carleton University, Ottawa, ON, K1S 5B6, Canada

    Peter Xiaoping Liu

Authors
  1. Zhenghong Xu
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  2. Xiaohui Yang
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  3. Siyi Zhou
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  4. Wenjie Zhang
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  5. Wei Zhang
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Corresponding author

Correspondence to Xiaohui Yang.

Additional information

This work is supported by the National Natural Scie nce Foundation of China (51765042, 61963062).

Zhenghong Xu received his B.E. degree in mineral process engineering from North China Institute of Science and Technology, Langfang, China, in 2018. Now, he is pursuing an M.E. degree in electric engineering at Nanchang University. His current research interests include sliding mode control and observers, and adaptive non-linear control of robotic manipulators.

Xiaohui Yang received his B.Sc. M.Sc., and Ph.D. degrees from Nanchang University, Nanchang, China, in 2003, 2006, and 2015, respectively. He has been with the Department of Electronic Information Engineering, School of Information Engineering, Nanchang University, since 2006, where he is currently a Professor. His current interests include intelligent control and stochastic non-linear systems etc.

Siyi Zhou received his M.E. degree in electric engineering from Nanchang University, Nanchang, China, in 2018. Now, he is working in the State Grid Hukou County Electric Power Supply Branch, Jiujiang Jiangxi, China. His research interests include sliding mode control and speed control of motor.

Wenjie Zhang received his B.E. degree in electrical engineering and automation from Heilongjiang University of Science and Technology, Heilongjiang, China, in 2019. Now, he is pursuing an M.E. degree in electric engineering at Nanchang University. His current research interests include sliding mode control and adaptive control of robotic manipulators.

Wei Zhang received his B.E. degree in electrical engineering and its automation from Nanchang University, Nanchang, China, in 2018. Now, he is pursuing an M.E. degree in electric engineering at Nanchang University. His current research interests include sliding mode control and adaptive control.

Shuang Yang received her B.E. degree in electrical engineering and its automation from Qingdao University of Science and Technology, China, in 2019. Now, she is pursuing an M.E. degree in electric engineering at Nanchang University. Her current research interests include power system optimization and adaptive control.

Peter Xiaoping Liu received his B.Sc. and M.Sc. degrees from Northern Jiaotong University, China, in 1992 and 1995, respectively, and a Ph.D. degree from the University of Alberta, Canada in 2002. He has been with the Department of Systems and Computer Engineering, Carleton University, Canada since July 2002 and he is currently a Professor and Canada Research Chair. His research interests include interactive networked systems and teleoperation, haptics, micro-manipulation, robotics, and intelligent systems. Dr. Liu is a licensed member of the Professional Engineers of Ontario (P.Eng), a senior member of IEEE and Fellow of Engineering Institute of Canada (FEIC).

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Xu, Z., Yang, X., Zhou, S. et al. Extended State Observer Based Adaptive Backstepping Nonsingular Fast Terminal Sliding-mode Control for Robotic Manipulators with Uncertainties. Int. J. Control Autom. Syst. 20, 2972–2982 (2022). https://doi.org/10.1007/s12555-021-0559-1

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