A novel generalized sliding mode controller for uncertain robot manipulators based on motion constraints
Abstract To improve the trajectory tracking performance and robustness for uncertain robot manipulators, a generalized sliding mode controller (GSMC) including an ideal controller and a continuous sliding mode controller (SMC) is proposed from the standpoint of motion constraints. First, the trajectory tracking requirements are formulated as the motion constraints, based on which an ideal controller is proposed to satisfy the motion constraints for robot manipulators whose dynamics are precisely known. Second, an additional continuous SMC is presented to compensate for the effects of uncertainty, and the chattering phenomenon that commonly exists in the SMC can be avoided by the introduction of a smoothing function. Third, Lyapunov analysis is conducted to verify that the proposed GSMC enables the tracking error restricted to a small region around zero. Finally, the numerical simulation and experiment are performed to verify the effectiveness and superiority of the proposed GSMC.
- Location
-
Deutsche Nationalbibliothek Frankfurt am Main
- Extent
-
Online-Ressource
- Language
-
Englisch
- Bibliographic citation
-
A novel generalized sliding mode controller for uncertain robot manipulators based on motion constraints ; volume:15 ; number:1 ; year:2024 ; pages:55-62 ; extent:8
Mechanical sciences ; 15, Heft 1 (2024), 55-62 (gesamt 8)
- Classification
-
Elektrotechnik, Elektronik
- Creator
-
Wang, Zhaodong
Mei, Lixue
Ma, Xiaoqun
- DOI
-
10.5194/ms-15-55-2024
- URN
-
urn:nbn:de:101:1-2024020803195126671740
- Rights
-
Open Access; Der Zugriff auf das Objekt ist unbeschränkt möglich.
- Last update
-
15.08.2025, 7:22 AM CEST
Data provider
Deutsche Nationalbibliothek. If you have any questions about the object, please contact the data provider.
Associated
- Wang, Zhaodong
- Mei, Lixue
- Ma, Xiaoqun
Other Objects (12)
Model-Free Robust-Adaptive Controller Design and Identification for Robot Manipulators
Adaptive fuzzy sliding mode controller design for a new hand rehabilitation robot
External Stabilization of Robot Manipulators
Redundancy in robot manipulators and multi-robot systems
Modelling and control of robot manipulators
Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method
Energy-efficient trajectory planning for robot manipulators
Randomized Parallel Motion Planning for Robot Manipulators
Control of redundant robot manipulators : theory and experiments
Sliding mode controller design for wood drying process
Enhancing robustness and noise rejection in flexible joint manipulators: an optimized sliding mode controller with enhanced gray wolf optimization for trajectory tracking
Decentralized fault-tolerant control of modular robot manipulators with actuator saturation: neural adaptive integral terminal sliding mode-based control approach
Model-Free Robust-Adaptive Controller Design and Identification for Robot Manipulators
Adaptive fuzzy sliding mode controller design for a new hand rehabilitation robot
External Stabilization of Robot Manipulators
Redundancy in robot manipulators and multi-robot systems
Modelling and control of robot manipulators
Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method
Energy-efficient trajectory planning for robot manipulators
Randomized Parallel Motion Planning for Robot Manipulators
Control of redundant robot manipulators : theory and experiments
Sliding mode controller design for wood drying process
Enhancing robustness and noise rejection in flexible joint manipulators: an optimized sliding mode controller with enhanced gray wolf optimization for trajectory tracking
Decentralized fault-tolerant control of modular robot manipulators with actuator saturation: neural adaptive integral terminal sliding mode-based control approach
Model-Free Robust-Adaptive Controller Design and Identification for Robot Manipulators
Adaptive fuzzy sliding mode controller design for a new hand rehabilitation robot
External Stabilization of Robot Manipulators
Redundancy in robot manipulators and multi-robot systems
Modelling and control of robot manipulators
Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method
Energy-efficient trajectory planning for robot manipulators
Randomized Parallel Motion Planning for Robot Manipulators
Control of redundant robot manipulators : theory and experiments
Sliding mode controller design for wood drying process
Enhancing robustness and noise rejection in flexible joint manipulators: an optimized sliding mode controller with enhanced gray wolf optimization for trajectory tracking