4.6 Article

A Novel Prescribed-Performance-Tracking Control System with Finite-Time Convergence Stability for Uncertain Robotic Manipulators

期刊

SENSORS
卷 22, 期 7, 页码 -

出版社

MDPI
DOI: 10.3390/s22072615

关键词

sliding mode control; finite-time control; robot manipulators; prescribed performance control

资金

  1. Basic Science Research Program through the National Research Foundation of Korea (NRF) - Ministry of Education [NRF-2019R1D1A3A03103528]
  2. National Research Foundation of Korea [4199990113964] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)

向作者/读者索取更多资源

This article presents an advanced prescribed performance-tracking control system for uncertain robotic manipulators, with finite-time convergence stability. The proposed controller exhibits improved properties, including estimated convergence speed and predefined upper and lower limits for maximum overshoot during transient responses. Furthermore, it can provide a smooth control torque without losing its robustness, and the control errors inevitably converge to zero within a finite time.
Through this article, we present an advanced prescribed performance-tracking control system with finite-time convergence stability for uncertain robotic manipulators. It is therefore necessary to define a suitable performance function and error transformation to guarantee a prescribed performance within a finite time. Following the definitions mentioned, a modified integral nonlinear sliding-mode hyperplane is constructed from the transformed errors. By using the designed nonlinear sliding-mode surface and the super-twisting reaching control law, an advanced approach to the prescribed performance control was formed for the trajectory tracking control of uncertain robotic manipulators. The proposed controller exhibits improved properties, including estimated convergence speed and a predefined upper and lower limit for maximum overshoot during transient responses. Furthermore, the maximum allowable size of the control errors at the steady-state can be predefined and these errors will inevitably converge to zero within a finite time, while the proposed controller can provide a smooth control torque without the loss of its robustness. It is shown that the proposed control system is globally stable and convergent over a finite time. A comprehensive analysis of the effectiveness of the proposed control algorithm was already conducted via the simulation of an industrial robot manipulator.

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