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Adaptive high-order sliding mode control based on quasi-time delay estimation for uncertain robot manipulator
BrahimBRAHMI,MarkDRISCOLL,MohamedHamzaLARAKI,AbdelkrimBRAHMI
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(Department of Mechanical Engineering, Musculoskeletal Biomechanics Research Lab, McGill University, Montreal, Canada;;Department of Electrical Engineering, University of Quebec, Montreal, Canada)
摘要:
This paper presents the design, and validation of a new adaptive control system based on quasi-time delay estimation (Q-TDE) augmented with new integral second-order terminal sliding mode control (ISOTSMC) for a manipulator robot with unknown dynamic uncertainty and disturbances. Contrary to the conventional TDE, the proposed Q-TDE becomes sufficient to invoke a fixed artificial time delay and utilize the past data only of the control input to approximate the unknown system's dynamic uncertainties. The incorporating of new adaptive reaching law with ISOTSMC augmented with Q-TDE policy ensures the continuous performance tracking of the robot manipulator's trajectories using output feedback. This combination may achieve high performance with a significant chattering reducing procedure. By utilizing the Lyapunov function theory, it can be demonstrated that the robot system is stable and all signals in closed-loop are converging in finite time. Consequently, Simulation and comparative studies with two degrees of freedom robot manipulator were carried out to validate the effectiveness of the designed control scheme.
关键词:  Second-order sliding mode, quasi-time delay estimation (Q-TDE), adaptive reaching law
DOI:https://doi.org/10.1007/s11768-020-9061-1
基金项目:
Adaptive high-order sliding mode control based on quasi-time delay estimation for uncertain robot manipulator
Brahim BRAHMI,Mark DRISCOLL,Mohamed Hamza LARAKI,Abdelkrim BRAHMI
(Department of Mechanical Engineering, Musculoskeletal Biomechanics Research Lab, McGill University, Montreal, Canada;;Department of Electrical Engineering, University of Quebec, Montreal, Canada)
Abstract:
This paper presents the design, and validation of a new adaptive control system based on quasi-time delay estimation (Q-TDE) augmented with new integral second-order terminal sliding mode control (ISOTSMC) for a manipulator robot with unknown dynamic uncertainty and disturbances. Contrary to the conventional TDE, the proposed Q-TDE becomes sufficient to invoke a fixed artificial time delay and utilize the past data only of the control input to approximate the unknown system's dynamic uncertainties. The incorporating of new adaptive reaching law with ISOTSMC augmented with Q-TDE policy ensures the continuous performance tracking of the robot manipulator's trajectories using output feedback. This combination may achieve high performance with a significant chattering reducing procedure. By utilizing the Lyapunov function theory, it can be demonstrated that the robot system is stable and all signals in closed-loop are converging in finite time. Consequently, Simulation and comparative studies with two degrees of freedom robot manipulator were carried out to validate the effectiveness of the designed control scheme.
Key words:  Second-order sliding mode, quasi-time delay estimation (Q-TDE), adaptive reaching law