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首页> 外文期刊>Arabian Journal for Science and Engineering >Non-singular Terminal Sliding Mode Control of Robot Manipulators with H∞ Trajectory Tracking Performance
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Non-singular Terminal Sliding Mode Control of Robot Manipulators with H∞ Trajectory Tracking Performance

机译：具有H∞轨迹跟踪性能的机械臂非奇异终端滑模控制

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摘要

This paper develops a novel non-singular terminal sliding mode control scheme for trajectory tracking of robot manipulators in the presence of external disturbances and uncertainties. Firstly, with the introduction of two nonlinear terms, a newly terminal sliding surface is designed. Then utilizing this sliding surface, a novel non-singular terminal sliding mode controller is proposed to eliminate the reaching interval, singularity issue and subsequently with this controller, the finite time error convergence is also assured. In the proposed controller, radial basis function neural network is employed to approximate highly uncertain nonlinear dynamics of robot manipulators using update laws derived with Lyapunov approach. Meanwhile, the effects of approximation errors are attenuated with H infinity performance criterion by introducing a robust term into the controller. As a result of proposed approach, asymptotic convergence of tracking errors is achieved within finite time and the approximation errors are attenuated to desired levels. The numerical simulation result shows the effectiveness of proposed controller for the case of microbot type robot manipulator.
机译：本文针对存在外部干扰和不确定性的机器人操纵器，提出了一种新颖的非奇异终端滑模控制方案。首先，通过引入两个非线性项，设计了一个新的终端滑动面。然后利用该滑动面，提出了一种新颖的非奇异终端滑模控制器，消除了到达间隔，奇异性问题，并通过该控制器确保了有限时间误差的收敛性。在所提出的控制器中，采用径向基函数神经网络，利用由Lyapunov方法导出的更新定律来近似高度不确定的机器人操纵器非线性动力学。同时，通过将鲁棒项引入控制器，以H无穷大性能准则衰减了近似误差的影响。作为所提出的方法的结果，在有限时间内实现了跟踪误差的渐近收敛，并且将近似误差衰减到期望的水平。数值仿真结果表明了所提出的控制器在微型机器人式机械手情况下的有效性。

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