JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2016, Vol. 46 ›› Issue (5): 45-53.doi: 10.6040/j.issn.1672-3961.0.2016.328

Previous Articles     Next Articles

Robotic manipulators tracking control based on adaptive terminal sliding mode controller

TANG Qingshun, JIN Lu, LI Guodong, WU Chunfu   

  1. School of Mechanical and Electrical Engineering, Longyan College, Longyan 364012, Fujian, China
  • Received:2016-08-23 Online:2016-10-20 Published:2016-08-23

PDF (PC)

526

Abstract: A self-adaptive second-order terminal sliding mode controller was proposed to achieve trajectory tracking control of robotic manipulators with uncertainties. The self-adaptive second-order terminal sliding mode algorithm was designed for a class of nonlinear uncertain system. The discontinuous sign function was included in first time derivative of control item, and the actual control input was continuous. The self-adaptive law method was employed to conquer system uncertainties, of which the upper bounds were unknown in advance, and the system stability was proved based on Lyapunov criterion. The robotic manipulators self-adaptive terminal sliding mode trajectory tracking control scheme was proposed. Simulation results for two-link robotic manipulator demonstrated the effectiveness of the proposed control strategy.

Key words: self-adaptive, terminal sliding mode, second-order sliding mode, robotic manipulators, trajectory tracking, control

CLC Number: 

  • TP273
[1] GALICKI M. Finite-time control of robotic manipulators[J]. Automatica, 2015, 51:49-54.
[2] VERRELLI C M, PIROZZI S, TOMEI P, et al. Linear repetitive learning controls for robotic manipulators by padé approximants[J]. IEEE Transactions on Control Systems Technology, 2015, 23(5):2063-2070.
[3] 孟健, 李贻斌, 李彬. 四足机器人跳跃步态控制方法[J]. 山东大学学报(工学版), 2015, 45(3):28-34. MENG Jian, LI Yibin, LI Bin. Bound gait controlling method of quadruped robot [J]. Journal of School of Shandong University(Engineering Science), 2015, 45(3):28-34.
[4] PARK C W. Robust stable fuzzy control via fuzzy modeling and feedback linearization with its applications to controlling uncertain single-link flexible joint manipulators[J]. Journal of Intelligent and Robotic Systems, 2004, 39(2):131-147.
[5] NIKDEL N, NIKDEL P, BADAMCHIZADEH M A, et al. Using neural network model predictive control for controlling shape memory alloy-based manipulator[J]. IEEE Transactions on Industrial Electronics, 2014, 61(3):1394-1401.
[6] LI Z, YANG C, SU C Y, et al. Decentralized fuzzy control of multiple cooperating robotic manipulators with impedance interaction[J]. IEEE Transactions on Fuzzy Systems, 2015, 23(4):1044-1056.
[7] LI Z, DENG S, SU C Y, et al. Decentralized adaptive control of cooperating robotic manipulators with disturbance observers[J]. IET Control Theory & Applications, 2014, 8(7):515-521.
[8] 翟伟娜, 葛运旺, 宋书中. 基于改进趋近律的机械手滑模控制[J]. 信息与控制, 2014, 43(3):300-305. ZHAI Weina, GE Yunwang, SONG Shuzhong. Sliding mode control for robotic manipulators based on the improved reaching Law [J]. Information and Control, 2014, 43(3):300-305.
[9] LI F, WU L, SHI P, et al. State estimation and sliding mode control for semi-Markovian jump systems with mismatched uncertainties [J]. Automatica, 2015, 51:385-393.
[10] 刘向杰,韩耀振. 基于连续高阶模滑的多机电力系统励磁控制[J]. 山东大学学报(工学版), 2016, 46(2): 64-71. LIU Xiangjie, HAN Yaozhen. Multi-machine power system excitation control based on continuous higher-order sliding mode[J]. Journal of School of Shandong University(Engineering Science), 2016, 46(2):64-71.
[11] HAN Y, LIU X. Continuous higher-order sliding mode control with time-varying gain for a class of uncertain nonlinear systems [J]. ISA Transactions, 2016, 62: 193-201.
[12] LIU X, HAN Y. Decentralized multi-machine power system excitation control using continuous higher-order sliding mode technique [J]. International Journal of Electrical Power & Energy Systems, 2016, 82: 76-86.
[13] YANG J, SU J, LI S, et al. High-order mismatched disturbance compensation for motion control systems via a continuous dynamic sliding-mode approach [J]. IEEE Transactions on Industrial Informatics, 2014, 10(1): 604-614.
[14] 张德江, 张袅娜, 冯勇. 参数不确定柔性机械手的快速终端滑模控制[J]. 控制与决策, 2010, 25(3):433-436. ZHANG Dejiang, ZHANG Niaona, FENG Yong. Fast terminal sliding mode control for flexible manipulators with uncertain parameters[J]. Control and Decision, 2010, 25(3):433-436.
[15] JIN M, LEE J, CHANG P H, et al. Practical nonsingular terminal sliding-mode control of robot manipulators for high-accuracy tracking control[J]. IEEE Transactions on Industrial Electronics, 2009, 56(9):3593-3601.
[16] WANG L, CHAI T, ZHAI L. Neural-network-based terminal sliding-mode control of robotic manipulators including actuator dynamics [J]. IEEE Transactions on Industrial Electronics, 2009, 56(9): 3296-3304.
[17] FENG Y, YU X, MAN Z. Non-singular terminal sliding mode control of rigid manipulators[J]. Automatica, 2002, 38(12): 2159-2167.
[18] MONDAL S, MAHANTA C. Adaptive integral higher order sliding mode controller for uncertain systems[J]. Journal of Control Theory and Applications, 2013, 11(1): 61-68.
[19] PLESTAN F, SHTESSEL Y, BREGEAULT V, et al. New methodologies for adaptive sliding mode control [J]. International Journal of Control, 2010, 83(9): 1907-1919.
[20] MOHAMMADI A, TAVAKOLI M, MARQUEZ H J, et al. Nonlinear disturbance observer design for robotic manipulators [J]. Control Engineering Practice, 2013, 21(3): 253-267.
[21] ZHAO D, ZHU Q, LI N, et al. Synchronized control with neuro-agents for leader—follower based multiple robotic manipulators [J]. Neurocomputing, 2014, 124: 149-161.
[22] LIU H, ZHANG T. Neural network-based robust finite-time control for robotic manipulators considering actuator dynamics[J]. Robotics and Computer-Integrated Manufacturing, 2013, 29(2): 301-308.
[1] Mian ZHANG,Ying HUANG,Haiyi MEI,Yu GUO. Intelligent interaction method for power distribution robot based on Kinect [J]. Journal of Shandong University(Engineering Science), 2018, 48(5): 103-108.
[2] MAO Beixing. Ratio integral sliding mode synchronization control of entanglement chaotic systems [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(4): 50-54.
[3] LI Xiangyu, ZHAO Zhicheng, WANG Wenyu. Fractional internal model control of PWM rectifier based on inverted decoupling [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(4): 109-115.
[4] WU Huachun, XIE Siyuan, CHEN Changhao. Design and experiment of cascade PID control for Maglev actuator [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(4): 88-93.
[5] WANG Qi, SUN Zhumei, LIU Shaohong, BAI Jianyun. Integration transform of dust removal system based on fieldbus compatible technology [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(4): 37-41.
[6] MA Chicheng, GUO Zonghe, LIU Canchang, DAI Xiangjun, ZHANG Xinong, MAO Boyong. Dynamics charactersitics of flexible beams undergoing time varying mass [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(4): 78-87.
[7] CHENG Xin, LIU Han, WANG Bo, LIANG Dian, CHEN Qiang. A fault-tolerant control architecture for active magnetic bearing based on dual core processor [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(2): 72-80.
[8] LIU Jian, HU Nanqi, XU Baojun, YUE Xiuli, QI Boliang, ZHONG Qi. Experiment of cement-based seepage grouting materials for earth-rock dam [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(2): 39-45.
[9] CUI Hengbin, ZHOU Jin, DONG Jiyong, JIN Chaowu. Design of H∞ controller for magnetic thrust bearing system based on V-Gap metric [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(2): 86-93.
[10] LIU Zhe, SONG Rui, ZOU Tao. End force tracking control algorithm of grinding robot based on model predictive control [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(1): 42-49.
[11] ZHANG Bohan, CHEN Zheming, FU Jianghua, CHEN Bao. Self-adaption acceleration slip regulation control of four-wheel independently-driving electric vehicle [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(1): 96-103.
[12] SONG Zhengqiang, YANG Huiling, XIAO Dan. Current and speed controllers driven by IPMSM based on online particle swarm optimization method [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(1): 112-116.
[13] CHE Changming, ZHANG Huadong, LI Jianxiang, YUAN Hong, LIU Haibo. Optimization dispatch control strategy for charging load of large-scale electric vehicle on demand side [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2017, 47(6): 108-114.
[14] ZHANG Weijiang, DANG Hongshe. Soft-start control strategy of induction motor based on space voltage vector [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2017, 47(6): 70-76.
[15] XIN Yan, LI Jingcai, REN Danyuan, ZHOU Minqiang. Availability analysis of wind turbine based on IEC information classification and research on the improvement method [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2017, 47(6): 100-107.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] CHENG Daizhan, LI Zhiqiang. A survey on linearization of nonlinear systems[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(2): 26 -36 .
[2] WANG Yong, XIE Yudong. Gas control technology of largeflow pipe[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(2): 70 -74 .
[3] LIU Xin 1, SONG Sili 1, WANG Xinhong 2. [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(2): 98 -100 .
[4] . [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(2): 104 -107 .
[5] CHEN Huaxin, CHEN Shuanfa, WANG Binggang. The aging behavior and mechanism of base asphalts[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(2): 125 -130 .
[6] . [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(2): 131 -136 .
[7] LI Shijin, WANG Shengte, HUANG Leping. Change detection with remote sensing images based on forward-backward heterogenicity[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(3): 1 -9 .
[8] ZHAO Ke-Jun, WANG Xin-Jun, LIU Xiang, CHOU Yi-Hong. Algorithms of continuous top-k join query over structured overlay networks[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(5): 32 -37 .
[9] ZHAO Zhi-guang,WANG Deng-jie,TIAN Yun-fei . Roadbed settlement based on the gray theory[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2007, 37(3): 86 -88 .
[10] YAO Zhan-yong,SHANG Qing-sen,ZHAO Zhi-zhong,JIA Zhao-xia . The influence analysis of the semirigid asphalt pavement configuration stress and distortion by interface conditions[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2007, 37(3): 93 -99 .
Copyright 2018 © Editorial office of Journal of Shandong University (Engineering Science)
Supported by Beijing Magtech Co.Ltd