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Abstract

Input shaping is commonly employed to suppress the residual vibrations of the planar manipulator end-effectors, but its performance heavily depends on precise modal parameter estimation and often proves inadequate under varying conditions. In this study, an active vibration suppression method is proposed for high-speed planar manipulators based on a non-singular fast terminal sliding mode controller (NFTSMC). The NFTSMC can keep the rapid convergence of the system, while it can also avoid the “chattering” phenomenon in traditional sliding mode control. The residual vibration of planar manipulators is modeled as a second-order system, a tailored sliding surface and control law of sliding mode controller are designed. The system’s stability and finite-time convergence are analytically validated using Lyapunov theory, while the control performance is improved by the applications of a surrogate model related to controller parameters to vibration amplitude and particle swarm optimization for parameter tuning. An experimental platform is constructed to assess the effectiveness of both the baseline and optimized NFTSMC. Their performance is compared against traditional input shaping and fuzzy feedback control strategies. Experimental results confirm that the proposed NFTSMC delivers rapid and robust vibration suppression, outperforming conventional methods in both response speed and attenuation effectiveness.

Keywords

planar manipulators residual vibrations NFTSMC parameter optimization

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Active residual vibration suppression of high-speed planar manipulators using non-singular fast terminal sliding mode control

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