Continuous Terminal Sliding-Mode Control for FJR Subject to Matched/Mismatched Disturbances

Authors:
Publisher website
Google Scholar
Abstract
A robust finite-time control (FTC) framework using continuous terminal sliding-mode control (SMC) and high-order sliding-mode observer (HOSMO) is discussed to realize the trajectory tracking of flexible-joint robots in this article. Control performances of the robots always suffer from unknown matched and mismatched time-varying disturbances. Traditional SMC exists with a chattering phenomenon and cannot cope with mismatched time-varying disturbances due to its inherent structure property. For this reason, two HOSMOs are devised to estimate the time-varying disturbances on the link and motor side, respectively. Then, by fusing the states and disturbance estimations into a novel terminal sliding-mode surface, a continuous robust FTC scheme is developed. The proposed control strategy can not only handle both matched and mismatched time-varying disturbances but also obtain a finite-time convergence performance. The rigorous finite-time stability analysis of the closed-loop system under the proposed control method is guaranteed. The results are illustrated to verify the effectiveness and robustness of the proposed design approach.
Funding Information
  • National Natural Science Foundation of China (61803059, 61903186, 61673079)
  • National Robotics Program, RDS, SERC, Singapore (1922200001)
  • Innovation Research Group of Universities in Chongqing, China
  • Natural Science Foundation of Jiangsu Province, China (BK20190665)
  • Natural Science Foundation of Chongqing Municipality (cstc2018jcyjAX0160)
  • Innovation Team Project of Chongqing Education Committee (CXTDX201601019)
  • Foundation of Chongqing University of Posts and Telecommunications (A2017-74, A2017-15)

This publication has 38 references indexed in Scilit: