Work

Non-Singular Fast Sliding Mode Control of Robot Manipulators Based on Integrated Dynamic Compensation

Year: 2025

Type: article

Abstract: In order to realize the problem of tracking control of the trajectory of robot manipulators under variable load conditions, this paper proposes a non-singular fast terminal sliding mode tracking control design for robot manipulators based on integrated dynamic compensation. First, in the model, the friction torque under the influence of speed is considered while combined with the joint torque estimation for integrated dynamic compensation. Second, a novel non-singular fast terminal sliding mode controller is proposed, which helps to overcome the singularity problem and has been analyzed for stability using the Lyapunov method. Finally, trajectory tracking experiments are conducted on an experimental platform and compared with the PID algorithm, demonstrating the superior control performance of the proposed algorithm.

Source: Actuators

DOI: 10.3390/act14050215

Authors: Xinyi Wang, Xichang Liang, Shunjing Hu, Qianqian Xin

Institution: Shandong University

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,896

Funders: Shandong University, Natural Science Foundation of Shandong Province, Key Technology Research and Development Program of Shandong