Adaptive nonsingular fixed-time sliding mode control for uncertain robotic manipulators under actuator saturation
文献类型：期刊论文
| 作者 | H. Y. Sai; Z. B. Xu; S. He; E. Y. Zhang and L. Zhu |
| 刊名 | Isa Transactions
 |
| 出版日期 | 2022 |
| 卷号 | 123页码:46-60 |
| ISSN号 | 0019-0578 |
| DOI | 10.1016/j.isatra.2021.05.011 |
| 英文摘要 | This paper describes an adaptive nonsingular fixed-time sliding mode control (ANFSMC) scheme under actuator saturation that can track the trajectory of a robotic manipulator under external disturbances and inertia uncertainties. First, a novel NFSMC that offers rapid convergence and avoids singularities is proposed for ensuring robotic manipulators global approximate fixed-time convergence. An ANFSMC is then developed for which the bound of the coupling uncertainty is not necessary to know in advance. The controller exhibits small absolute tracking errors and consumes little energy. An actuator saturation compensator is designed and shown to minimize the chattering of the system while accelerating the trajectory tracking. The proposed schemes are analyzed using Lyapunov stability theory, and their effectiveness and superiority are demonstrated through numerical simulations. (C) 2021 ISA. Published by Elsevier Ltd. All rights reserved. |
| URL标识 | 查看原文 |
| 语种 | 英语 |
| 源URL | [http://ir.ciomp.ac.cn/handle/181722/66385]  |
| 专题 | 中国科学院长春光学精密机械与物理研究所 |
| 推荐引用方式 GB/T 7714 | H. Y. Sai,Z. B. Xu,S. He,et al. Adaptive nonsingular fixed-time sliding mode control for uncertain robotic manipulators under actuator saturation[J]. Isa Transactions,2022,123:46-60. |
| APA | H. Y. Sai,Z. B. Xu,S. He,&E. Y. Zhang and L. Zhu.(2022).Adaptive nonsingular fixed-time sliding mode control for uncertain robotic manipulators under actuator saturation.Isa Transactions,123,46-60. |
| MLA | H. Y. Sai,et al."Adaptive nonsingular fixed-time sliding mode control for uncertain robotic manipulators under actuator saturation".Isa Transactions 123(2022):46-60. |
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