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Robust adaptive dual layer sliding mode controller: Methodology and application of uncertain robot manipulator

文献类型： 外文期刊

作者： Ma, YA-Jun 1 ; Zhao, Hui 3 ; Li, Tao 4 ;

作者机构： 1.Tianjin Univ Technol, Sch Elect & Elect Engn, 391 Bin Shui Xi Dao Rd, Tianjin 300384, Peoples R China

2.Beijing Inst Precis Mechatron & Controls, Beijing, Peoples R China

3.Tianjin Agr Univ, Coll Engn & Technol, Tianjin, Peoples R China

4.Beijing Acad Agr & Forestry Sci, Beijing Res Ctr Intelligent Equipment Agr, Beijing 100097, Peoples R China

关键词： Adaptive tuning gains; dual layer sliding mode; robot manipulator; tracking controller; robust control

期刊名称：TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL （ 影响因子：1.796； 五年影响因子：1.816 ）

ISSN： 0142-3312

年卷期：

页码：

收录情况： SCI

摘要： This paper presents a novel robust adaptive dual layer sliding mode control (ADLSMC) for the problem of high accuracy tracking trajectory of robot manipulator in the presence of uncertainties and external disturbances. This new control scheme has a dual layer structure. The first layer drives the robot manipulator system reaches the global nonlinear sliding surface in finite time, and the second layer tackles the values of the two control gains overestimation problem. Moreover, compared with the traditional super-twisting with time delay estimation algorithm, the proposed controller can realize not only set-point tracking but also dynamic tracking, which is very widely used in practice. The stability of the closed-loop system and the finite time convergence are analyzed using Lyapunov techniques. The effectiveness of the proposed method is demonstrated by simulations and experimental studies.

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