| Title: |
A Novel Time Delay Nonsingular Fast Terminal Sliding Mode Control for Robot Manipulators with Input Saturation. |
| Authors: |
Truong, Thanh Nguyen1 (AUTHOR) truongthanhnguyen@mail.ulsan.ac.kr, Vo, Anh Tuan1 (AUTHOR), Kang, Hee-Jun1 (AUTHOR) hjkang@ulsan.ac.kr |
| Source: |
Mathematics (2227-7390). Jan2025, Vol. 13 Issue 1, p119. 25p. |
| Subject Terms: |
*INDUSTRIAL robots, *TIME delay systems, *SLIDING mode control, *ROBOT control systems, *ROBOTS |
| Abstract: |
Manipulator systems are increasingly deployed across various industries to perform complex, repetitive, and hazardous tasks, necessitating high-precision control for optimal performance. However, the design of effective control algorithms is challenged by nonlinearities, uncertain dynamics, disturbances, and varying real-world conditions. To address these issues, this paper proposes an advanced orbit-tracking control approach for manipulators, leveraging advancements in Time-Delay Estimation (TDE) and Fixed-Time Sliding Mode Control techniques. The TDE approximates the robot's unknown dynamics and uncertainties, while a novel nonsingular fast terminal sliding mode (NFTSM) surface and novel fixed-time reaching control law (FTRCL) are introduced to ensure faster convergence within a fixed time and improved accuracy without a singularity issue. Additionally, an innovative auxiliary system is designed to address input saturation effects, ensuring that system states converge to zero within a fixed time even when saturation occurs. The Lyapunov-based theory is employed to prove the fixed-time convergence of the overall system. The effectiveness of the proposed controller is validated through simulations on a 3-DOF SAMSUNG FARA AT2 robot manipulator. Comparative analyses against NTSMC, NFTSMC, and GNTSMC methods demonstrate superior performance, characterized by faster convergence, reduced chattering, higher tracking accuracy, and a model-free design. These results underscore the potential of the proposed control strategy to significantly enhance the robustness, precision, and applicability of robotic systems in industrial environments. [ABSTRACT FROM AUTHOR] |
|
Copyright of Mathematics (2227-7390) is the property of MDPI and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) |
| Database: |
Academic Search Complete |
