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Volume 11 Issue 3
Mar.  2024

IEEE/CAA Journal of Automatica Sinica

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D. Zhang, J. Hu, J. Cheng, Z.-G. Wu, and  H. Yan,  “A novel disturbance observer based fixed-time sliding mode control for robotic manipulators with global fast convergence,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 3, pp. 661–672, Mar. 2024. doi: 10.1109/JAS.2023.123948
Citation: D. Zhang, J. Hu, J. Cheng, Z.-G. Wu, and  H. Yan,  “A novel disturbance observer based fixed-time sliding mode control for robotic manipulators with global fast convergence,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 3, pp. 661–672, Mar. 2024. doi: 10.1109/JAS.2023.123948

A Novel Disturbance Observer Based Fixed-Time Sliding Mode Control for Robotic Manipulators With Global Fast Convergence

doi: 10.1109/JAS.2023.123948
Funds:  This work was partially supported by the National Natural Science Foundation of China (62322315, 61873237), Zhejiang Provincial Natural Science Foundation of China for Distinguished Young Scholars (LR22F030003), the National Key Rearch and Development Funding (2018YFB1403702), the Key Rearch and Development Programs of Zhejiang Province (2023C01224), and Major Project of Science and Technology Innovation in Ningbo City (2019B1003)
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  • This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators. First, a fixed-time disturbance observer (FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems. Then an adaptive scheme is used and the adaptive FTDO (AFTDO) is developed, so that the priori knowledge of the lumped disturbance is not required. Further, a new non-singular fast terminal sliding mode (NFTSM) surface is designed by using an arctan function, which helps to overcome the singularity problem and enhance the robustness of the system. Based on the estimation of the lumped disturbance by the AFTDO, a fixed-time non-singular fast terminal sliding mode controller (FTNFTSMC) is developed to guarantee the trajectory tracking errors converge to zero within a fixed time. The settling time is independent of the initial state of the system. In addition, the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method. Finally, the fixed-time NFESM (FTNFTSM) algorithm is validated on a 2-link manipulator and comparisons with other existing sliding mode controllers (SMCs) are performed. The comparative results confirm that the FTNFTSMC has superior control performance.

     

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    Highlights

    • A new fixed-time non-singular fast terminal sliding mode control strategy for robotic manipulators is proposed
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    • A new non-singular fast terminal sliding mode surface based on the arctan function is designed to overcome the singularity problem more simply and effectively
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    • A new adaptive fixed-time disturbance observer is designed to guarantee faster estimation speed and higher estimation accuracy
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