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)

598

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] SUN Zhongqing, LAI Yening, ZHANG Jian, CAO Xuening, ZHANG Hengxu. Coordinated control strategies for energy storage and other controllable resources in power system emergencies [J]. Journal of Shandong University(Engineering Science), 2025, 55(5): 78-87.
[2] GAO Junjian, LIAO Zhuhua, LIU Yizhi, ZHAO Yijiang. Hierarchical multi-agent reinforcement learning based route guidance method combining personalization and signal control [J]. Journal of Shandong University(Engineering Science), 2025, 55(3): 34-45.
[3] ZHAO Hongzhuan, ZHANG Xin, ZHANG Beiling, ZHAN Xin, LI Wenyong, YUAN Quan, WANG Tao, ZHOU Dan. Adynamic safe elliptical path planning method for intelligent vehicles based on improved artificial potential field [J]. Journal of Shandong University(Engineering Science), 2025, 55(3): 46-57.
[4] WANG Shibo, SUN Shumin, CHENG Yan, ZHOU Guangqi, GUAN Yifei, LIU Yiyuan, ZHANG Zhiqian, ZHANG Zhenbin. A cooperative control strategy of integrated photovoltaic-energy storage system considering SOC security boundary [J]. Journal of Shandong University(Engineering Science), 2025, 55(2): 37-44.
[5] Hengxu ZHANG,Zhimin GAO,Yongji CAO,Hao QIN,Dong YANG,Huan MA. Review and prospect of research on power system inertia with high penetration of renewable energy source [J]. Journal of Shandong University(Engineering Science), 2022, 52(5): 1-13.
[6] Yi HAN,Zhen XU,Tian GUAN,Yang CUI,Hui HU,Liming MA. Preparation method and system of engineering nanoparticle aerosol [J]. Journal of Shandong University(Engineering Science), 2022, 52(3): 109-116.
[7] Xueshan HAN,Xinyi WANG,Ming YANG,Yixiao YU. Review and prospect of renewable energy ramp events [J]. Journal of Shandong University(Engineering Science), 2021, 51(5): 53-62.
[8] LIANG Qixing, LI Bin, LI Zhi, ZHANG Hui, RONG Xuewen, FAN Yong. Algorithm of adaptive slope adjustment of quadruped robot based on model predictive control and its application [J]. Journal of Shandong University(Engineering Science), 2021, 51(3): 37-44.
[9] LI Xu, LIU Bing, CHEN Ying, WANG Peijun. Wind induce vibration control of chimney with suspended flue [J]. Journal of Shandong University(Engineering Science), 2021, 51(3): 101-112.
[10] LI Ying, L(¨overU)Xuebin, LI Yan, SUN Shoujing. Method for safety management and control of tools and equipment used in substation based on ultra-wideband technology [J]. Journal of Shandong University(Engineering Science), 2021, 51(3): 84-90.
[11] XU Dapeng, CAI Deyu, ZHAO Lanming, LIU Xumin. Study on offshore wind farm overvoltage and reactive power compensation [J]. Journal of Shandong University(Engineering Science), 2021, 51(1): 94-99.
[12] Zhiwei WANG,Nan GE,Chunwei LI. Fuzzy control of structure vibration mode based on BP neural network algorithm [J]. Journal of Shandong University(Engineering Science), 2020, 50(5): 13-19.
[13] ZHANG Feng, YANG Guixing, YUE Chenjing, HAO Quanrui, LI Dong. Determination and control method on power operating area of modular multilevel converter considering the constraint of internal dynamics [J]. Journal of Shandong University(Engineering Science), 2020, 50(4): 98-107.
[14] Xiaolan XIE,Qi WANG. A scheduling algorithm based on multi-objective container cloud task [J]. Journal of Shandong University(Engineering Science), 2020, 50(4): 14-21.
[15] WANG Chunyan, DI Jinhong, MAO Beixing. Sliding mode synchronization of fractional-order Rucklidge systems with unknown parameters based on a new type of reaching law [J]. Journal of Shandong University(Engineering Science), 2020, 50(4): 40-45.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] WANG Su-yu,<\sup>,AI Xing<\sup>,ZHAO Jun<\sup>,LI Zuo-li<\sup>,LIU Zeng-wen<\sup> . Milling force prediction model for highspeed end milling 3Cr2Mo steel[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(1): 1 -5 .
[2] ZHANG Yong-hua,WANG An-ling,LIU Fu-ping . The reflected phase angle of low frequent inhomogeneous[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(2): 22 -25 .
[3] LI Kan . Empolder and implement of the embedded weld control system[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2008, 38(4): 37 -41 .
[4] KONG Xiang-zhen,LIU Yan-jun,WANG Yong,ZHAO Xiu-hua . Compensation and simulation for the deadband of the pneumatic proportional valve[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(1): 99 -102 .
[5] LAI Xiang . The global domain of attraction for a kind of MKdV equations[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(1): 87 -92 .
[6] YU Jia yuan1, TIAN Jin ting1, ZHU Qiang zhong2. Computational intelligence and its application in psychology[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(1): 1 -5 .
[7] CHEN Rui, LI Hongwei, TIAN Jing. The relationship between the number of magnetic poles and the bearing capacity of radial magnetic bearing[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(2): 81 -85 .
[8] WANG Bo,WANG Ning-sheng . Automatic generation and combinatory optimization of disassembly sequence for mechanical-electric assembly[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(2): 52 -57 .
[9] LI Ke,LIU Chang-chun,LI Tong-lei . Medical registration approach using improved maximization of mutual information[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(2): 107 -110 .
[10] JI Tao,GAO Xu/sup>,SUN Tong-jing,XUE Yong-duan/sup>,XU Bing-yin/sup> . Characteristic analysis of fault generated traveling waves in 10 Kv automatic blocking and continuous power transmission lines[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(2): 111 -116 .
Copyright 2018 © Editorial office of Journal of Shandong University (Engineering Science)
Supported by Beijing Magtech Co.Ltd