Robust Fixed-Time Inverse Dynamic Control for Uncertain Robot Manipulator System
Yang Wang,Mingshu Chen,Yu Song +2 more
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Based on the uniform robust exact differentiator (URED) algorithm, a robust control term is constructed in this paper, and a robust fixed-time inverse dynamics control (IDC) is proposed.Abstract:
This paper proposes a novel robust fixed-time control for the robot manipulator system with uncertainties. Based on the uniform robust exact differentiator (URED) algorithm, a robust control term is constructed. Then, a robust fixed-time inverse dynamics control (IDC) is proposed. For the proposed control method, the fixed-time stability of a closed-loop system with uncertainties is strictly proved. The newly proposed method exhibits the following two attractive features. First, the proposed control scheme extends the existing fixed-time IDC for the robot manipulator system to the robust control scheme. Second, the proposed method is strictly nonsingular rather than the commonly used approximate approach. Simulation result demonstrates the effectiveness of the proposed control scheme.read more
Citations
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Journal ArticleDOI
Terminal Sliding-Mode Control of Uncertain Robotic Manipulator System with Predefined Convergence Time
Yang Wang,Mingshu Chen,Yu Song +2 more
TL;DR: A novel nonsingular terminal sliding-mode control (NTSMC) scheme is proposed for ensuring the predefined-time convergence of tracking errors and can reduce the initial control peaking and enhance the precision of convergence time.
Proceedings ArticleDOI
Experimental and Analytical Prescribed-Time Trajectory Tracking Control of a 7-DOF Robot Manipulator
TL;DR: In this article , the authors present an analytical design and experimental verification of trajectory tracking control of a 7-DOF robot manipulator, which achieves convergence of all tracking errors to the origin within a finite terminal time.
Design and Experiment of a Prescribed-Time Trajectory Tracking Controller for a 7-DOF Robot Manipulator
TL;DR: In this paper , the authors present an analytical design and experimental verifification of trajectory tracking con- trol of a 7-DOF robot manipulator, which achieves convergence of all tracking errors to the origin within a finite terminal time, also referred to as the settling time.
Journal ArticleDOI
Fixed-time Disturbance Observer-based Sliding Mode Control for Mismatched Uncertain Systems
Yang Wang,Mingshu Chen +1 more
Proceedings ArticleDOI
Experimental and Analytical Prescribed-Time Trajectory Tracking Control of a 7-DOF Robot Manipulator
TL;DR: In this article , the authors present an analytical design and experimental verification of trajectory tracking control of a 7-DOF robot manipulator, which achieves convergence of all tracking errors to the origin within a finite terminal time.
References
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Brief Non-singular terminal sliding mode control of rigid manipulators
Yong Feng,Xinghuo Yu,Zhihong Man +2 more
TL;DR: This paper presents a global non-singular terminal sliding mode controller for rigid manipulators to enable the elimination of the singularity problem associated with conventional terminal slide mode control.
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A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators
TL;DR: A robust MIMO terminal sliding mode technique and a few structural properties of rigid robotic manipulators are developed so that the output tracking error can converge to zero in a finite time, and strong robustness with respect to large uncertain dynamics can be guaranteed.