Book ChapterDOI
Fractional Integral Sliding Mode Control for Trajectory Tracking of Baxter Robot Manipulators
Xiru Wu,Jingtong Jia +1 more
- pp 809-817
TLDR
In this article, a fractional integral sliding mode control algorithm is proposed to solve the problems of poor tracking accuracy and poor robustness for multi-degree-of-freedom manipulators during trajectory tracking.Abstract:
A fractional integral sliding mode control algorithm is proposed to solve the problems of poor tracking accuracy and poor robustness for multi-degree-of-freedom manipulators during trajectory tracking. This method combines the advantages of sliding mode control strategy with fractional integration, using exponential reaching law based on fractional integral sliding mode surface. In addition, the approximate estimation term of external disturbance is added to the system, which can achieve rapid convergence and has strong anti-interference ability. Moreover, the stability of the system could be guaranteed by the Lyapunov theory. Numerical simulations of the seven degree-of-freedom(7-DOF) Baxter robot manipulators shows promising results that validate the high-precision tracking performance and the better robustness of the proposed robot system with external disturbances.read more
References
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Journal ArticleDOI
Neural network-based sliding mode adaptive control for robot manipulators
TL;DR: A neural network-based sliding mode adaptive control (NNSMAC), which is a combination of sliding mode technique, neural network approximation and adaptive technique, is designed to ensure trajectory tracking by the robot manipulator and it is shown using the Lyapunov theory that the tracking error asymptotically converge to zero.
Journal ArticleDOI
Adaptive non-singular integral terminal sliding mode tracking control for autonomous underwater vehicles
Lei Qiao,Weidong Zhang +1 more
TL;DR: The designed ANITSMC of AUVs avoids the requirement of the prior knowledge of the lumped system uncertainty bounds, provides higher tracking accuracy than the existing globally finite-time stable tracking control (GFTSTC), and offers faster convergence rate and better robustness against dynamic uncertainties and time-varying external disturbances than the adaptive proportional-integral sliding mode control.
Journal ArticleDOI
Adaptive Control of Robot Manipulators With Uncertain Kinematics and Dynamics
TL;DR: In this article, the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics is investigated, and two adaptive control schemes are proposed to realize the objective of task-space trajectory tracking irrespective of the uncertain KG and dynamics.
Journal ArticleDOI
Adaptive Control of Robot Manipulators With Uncertain Kinematics and Dynamics
TL;DR: This work proposes two adaptive control schemes to realize the objective of task-space trajectory tracking irrespective of the uncertain kinematics and dynamics, and shows that the first adaptive controller with appropriate modifications can yield the improved performance, without the expense of the conservative gain choice.
Journal ArticleDOI
Non-certainty equivalent adaptive control for robot manipulator systems
Dongeun Seo,Maruthi R. Akella +1 more
TL;DR: A novel adaptive control solution to robot manipulator control problems is presented, based on a non-certainty equivalent approach that involves a new filter construction for the regressor terms within the governing dynamics that enables the establishment of a stabilizing mechanism within the adaptation process for unknown parameters.
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