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Robust fast finite-time sliding mode control for industrial robot manipulators

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Abstract

In this work, a robust fast finite-time sliding mode control (RFFTSMC) approach is developed for industrial robot manipulator (IRM) system involved for tasks of interactive manipulation. The robust position tracking control is accomplished by the design of non-singular fast terminal sliding mode controller (TSMC) with disturbance estimator and tested using a two-link IRM system influenced by parameter uncertainties and external disturbances. This arrangement not only guarantees finite and faster convergence of the systems states to the equilibrium from anywhere in the phase-plane but also remove the difficulty of singularity associated with traditional TSMC. Additionally, owing to the interfering observer augmented in said control law, the overall stability of the closed-loop system is enhanced. The practicality of suggested RFFTSMC is acknowledged by carrying out the comparative study of the well-known controllers from the literature. Simulation results demonstrate that the tracking error can be reduced efficiently and robustness of the closed loop system has been enhanced.

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Authors and Affiliations

  1. MANET, MIT-ADT University, Pune, India

    S. J. Gambhire

  2. Koneru Lakshmaiah Education Foundation, Vaddeswaram, Guntur, Andhra Pradesh, 522502, India

    K. S. Sri Kanth

  3. Government College of Engineering, Jalgaon, Maharashtra, India

    G. M. Malvatkar

  4. Government College of Engineering Chandrapur, Chandrapur, Maharashtra, India

    P. S. Londhe

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  1. S. J. Gambhire
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  2. K. S. Sri Kanth
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  3. G. M. Malvatkar
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  4. P. S. Londhe
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Correspondence to S. J. Gambhire.

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Gambhire, S.J., Sri Kanth, K.S., Malvatkar, G.M. et al. Robust fast finite-time sliding mode control for industrial robot manipulators. Int. J. Dynam. Control 7, 607–618 (2019). https://doi.org/10.1007/s40435-018-0476-1

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  • DOI: https://doi.org/10.1007/s40435-018-0476-1

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