This paper investigates the finite-time disturbance estimation and tracking control for robotic manipulators subjected to model perturbation and external disturbance. First, an adaptive sliding mode disturbance observer (ASMDO) is raised to estimate the lumped uncertainties, which does not need to consider the upper boundary prior knowledge of lumped uncertainties’ derivative, and excessive gain coefficients are avoided, meanwhile, which decrease the chattering phenomenon. Next, a finite-time prescribed performance control (FPPC) is established to guarantee the system converges within a finite time and promote transient performance. Then, together with the FPPC, a finite-time nonsingular fast terminal sliding mode variable is established, which handles singularity problem in terminal sliding mode. In the meantime, a finite-time adaptive nonsingular fast terminal sliding mode controller (FANFTSMC) is constructed based on ASMDO and FPPC. The Lyapunov theorem is given to clarify that the system can reach the stable state within a finite time. Theoretical analysis and experiments reveal that FANFTSMC has better tracking performance and stronger robustness.
BaoXWangSZhengL, et al. (2023) SAPM: Self-adaptive parallel manipulator with pose and force adjustment for robotic ultrasonography. IEEE Transactions on Industrial Electronics70: 10333–10343.
2.
BechlioulisCPRovithakisGA (2014) A low-complexity global approximation-free control scheme with prescribed performance for unknown pure feedback systems. Automatica50: 1217–1226.
3.
ChenYLiangJWuY, et al. (2023) Adaptive Sliding-mode disturbance observer-based finite-time control for unmanned aerial manipulator with prescribed performance. IEEE Transactions on Cybernetics53: 3263–3276.
4.
CuiRChenLYangC, et al. (2017) Extended state observer-based integral sliding mode control for an underwater robot with unknown disturbances and uncertain nonlinearities. IEEE Transactions on Industrial Electronics64: 6785–6795.
EgliPHutterM (2022) A general approach for the automation of hydraulic excavator arms using reinforcement learning. IEEE Robotics and Automation Letters7: 5679–5686.
7.
FangHWuYXuT, et al. (2022) Prescribed-time adaptive neural tracking control for a class of uncertain robotic manipulators with dead zone input. Nonlinear Dynamics110: 497–512.
8.
FerraraAIncremonaGP (2015) Design of an integral suboptimal second-order sliding mode controller for the robust motion control of robot manipulators. IEEE Transactions on Control Systems Technology23: 2316–2325.
9.
FuBLiSGuoL, et al. (2018) Finite-time stabilization of port-controlled Hamiltonian systems with nonvanishing disturbances. Transactions of the Institute of Measurement and Control40: 2973–2981.
10.
GuoQZhangYCellerBG, et al. (2019) Neural adaptive backstepping control of a robotic manipulator with prescribed performance constraint. IEEE Transactions on Neural Networks and Learning Systems30: 3572–3583.
11.
HacklCMHopfeNIlchmannA, et al. (2013) Funnel control for systems with relative degree two. SIAM Journal on Control and Optimization51: 965–995.
12.
HanSILeeJM (2014) Fuzzy echo state neural networks and funnel dynamic surface control for prescribed performance of a nonlinear dynamic system. IEEE Transactions on Industrial Electronics61: 1099–1112.
13.
HanSIHaHLeeJ (2016) Barrier Lyapunov function-based model-free constraint position control for mechanical systems. Journal of Mechanical Science and Technology30: 3331–3338.
14.
HaoSHuLLiuPX (2021) Second-order adaptive integral terminal sliding mode approach to tracking control of robotic manipulators. IET Control Theory & Applications15: 2145–2157.
15.
HuQLiBQiJ (2014) Disturbance observer based finite-time attitude control for rigid spacecraft under input saturation. Aerospace Science and Technology39: 13–21.
16.
HuoXHuQXiaoB (2014) Finite-time fault tolerant attitude stabilization control for rigid spacecraft. ISA Transactions53: 241–250.
17.
LiSSunHYangJ, et al. (2015) Continuous finite-time output regulation for disturbed systems under mismatching condition. IEEE Transactions on Automatic Control60: 277–282.
18.
LuHZhaoXTaoB, et al. (2020) Online process monitoring based on vibration-surface quality map for robotic grinding. IEEE/ASME Transactions on Mechatronics25: 2882–2892.
19.
MienVMavrovouniotisMGeSS (2019) An adaptive backstepping nonsingular fast terminal sliding mode control for robust fault tolerant control of robot manipulators. IEEE Transactions on Systems, Man, and Cybernetics: Systems49: 1448–1458.
20.
Moreno-ValenzuelaJMoyronJMontoya-ChairezJ (2024) Limited integrator anti-windup-based control of input-constrained manipulators. IEEE Transactions on Industrial Electronics71: 1738–1748.
21.
NojavanzadehDBadamchizadehM (2016) Adaptive fractional-order non-singular fast terminal sliding mode control for robot manipulators. IET Control Theory & Applications10: 1565–1572.
22.
ParkJKwonWParkP (2023) An improved adaptive sliding mode control based on time-delay control for robot manipulators. IEEE Transactions on Industrial Electronics70: 10363–10373.
23.
RahmaniMGhanbariAEttefaghMM (2016) Hybrid neural network fraction integral terminal sliding mode control of an Inchworm robot manipulator. Mechanical Systems and Signal Processing80: 117–136.
24.
SchneyerSSachtlerAEibandT, et al. (2023) Segmentation and coverage planning of freeform geometries for robotic surface finishing. IEEE Robotics and Automation Letters8: 5267–5274.
25.
SunCWangSYuH (2023) Finite-time sliding mode control based on unknown system dynamics estimator for nonlinear robotic systems. IEEE Transactions on Circuits and Systems II: Express Briefs70: 2535–2539.
26.
VanMGeSS (2021) Adaptive fuzzy integral sliding-mode control for robust fault-tolerant control of robot manipulators with disturbance observer. IEEE Transactions on Fuzzy Systems29: 1284–1296.
27.
VanMGeSSCeglarekD (2022) Global finite-time cooperative control for multiple manipulators using integral sliding mode control. Asian Journal of Control24: 2862–2876.
28.
VanMGeSSRenH (2017) Finite time fault tolerant control for robot manipulators using time delay estimation and continuous nonsingular fast terminal sliding mode control. IEEE Transactions on Cybernetics47: 1681–1693.
29.
Von EllenriederKD (2019) Dynamic surface control of trajectory tracking marine vehicles with actuator magnitude and rate limits. Automatica105: 433–442.
30.
WangGChadliMBasinMV (2021a) Practical terminal sliding mode control of nonlinear uncertain active suspension systems with adaptive disturbance observer. IEEE/ASME Transactions on Mechatronics26: 789–797.
31.
WangHBaiWZhaoX, et al. (2022a) Finite-time-prescribed performance-based adaptive fuzzy control for strict-feedback nonlinear systems with dynamic uncertainty and actuator faults. IEEE Transactions on Cybernetics52: 6959–6971.
32.
WangHFangLHuM, et al. (2021b) Adaptive funnel fast nonsingular terminal sliding mode control for robotic manipulators with dynamic uncertainties. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science235: 3678–3693.
33.
WangHLiangWLiangB, et al. (2023) Robust position control of a continuum manipulator based on selective approach and Koopman operator. IEEE Transactions on Industrial Electronics70: 12522–12532.
34.
WangXWangZSunH, et al. (2022b) Finite-time tracking control for second-order nonlinear systems with prescribed performance subject to mismatched disturbances. International Journal of Robust and Nonlinear Control32: 10309–10325.
35.
WangYYanFChenJ, et al. (2019) A new adaptive time-delay control scheme for cable-driven manipulators. IEEE Transactions on Industrial Informatics15: 3469–3481.
36.
XiaoBYinSKaynakO (2016) Tracking control of robotic manipulators with uncertain kinematics and dynamics. IEEE Transactions on Industrial Electronics63: 6439–6449.
37.
XieYZhangXMengW, et al. (2021) Coupled fractional-order sliding mode control and obstacle avoidance of a four-wheeled steerable mobile robot. ISA Transactions108: 282–294.
38.
YangJLiSSuJ, et al. (2013) Continuous nonsingular terminal sliding mode control for systems with mismatched disturbances. Automatica49: 2287–2291.
39.
YaoQ (2021) Adaptive trajectory tracking control of a free-flying space manipulator with guaranteed prescribed performance and actuator saturation. Acta Astronautica185: 283–298.
40.
YeMWangH (2020) A robust adaptive chattering-free sliding mode control strategy for automotive electronic throttle system via genetic algorithm. IEEE Access8: 68–80.
41.
ZhangJWangCWuY (2023a) Adaptive neural network control for nonholonomic systems with partial/full or without state constraints. Journal of the Franklin Institute-Engineering and Applied Mathematics360: 10633–10655.
42.
ZhangLYangJ (2022) Continuous nonsingular terminal sliding mode control for nonlinear systems subject to mismatched terms. Asian Journal of Control24: 885–894.
43.
ZhangYFangLSongT, et al. (2023b) Adaptive non-singular fast terminal sliding mode based on prescribed performance for robot manipulators. Asian Journal of Control25: 3253–3268.
44.
ZhaoDZhuQ (2014) Position synchronised control of multiple robotic manipulators based on integral sliding mode. International Journal of Systems Science45: 556–570.
45.
ZhaoSYanZMengQ, et al. (2023) Modified three-element modeling and robust tracking control for a planar pneumatic soft actuator. IEEE Transactions on Industrial Electronics70: 9237–9247.
