Adaptive Non-singular Terminal Sliding Mode Fault-tolerant Control of Robotic Manipulator Based on Cross-Coupling Technology
作者单位：School of Mechanical and Electrical Engineering Guangzhou University
会议名称：《第十八届全国非线性振动暨第十五届全国非线性动力学和运动稳定性学术会议（NVND2021）》
会议日期：2021年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0835[工学-软件工程] 080201[工学-机械制造及其自动化]
关 键 词：Robotic Manipulator Finite time stability Contour error compensation Adaptive non-singular terminal sliding mode control(ANTSMC)
摘 要：To achieve accurate contour tracking of robot with dynamic uncertainties, coupling and actuator faults, an adaptive non-singular terminal sliding mode control(ANTSMC) based on cross-coupling technology is proposed. First, a terminal sliding mode manifold is used to derive the non-singular terminal sliding mode control(NTSMC) which enable the elimination of the singularity completely in traditional terminal sliding mode control(TSMC). Second, an adaptive tuning approach is selected for avoid the demand of the bound of system uncertainty, and the stability of the proposed control strategy is demonstrated by the sense of the finite-time stability theory. Furthermore, the decrease of contour error and the sudden change of the non-smooth trajectory is significant problem for accurate contour tracking application. A new cross-coupled ANTSMC law is proposed, and it is a strategy combining the NTSMC law for trajectory tracking at joint level and the PD control law for contour tracking at the end-effector level of robot, and an unified framework of cross-coupling contour compensation and reference position pre-compensation is designed by combining cross-coupling control technology with parabolic transition trajectory planning technology. Finally, numerical simulation and experimental results are shown to prove the effectiveness of the proposed control strategy.