Model-free adaptive sliding mode control with adjustable funnel boundary for robot manipulators with uncertainties
- 1 June 2021
- journal article
- research article
- Published by AIP Publishing in Review of Scientific Instruments
- Vol. 92 (6), 065101
- https://doi.org/10.1063/5.0037054
Abstract
Considering that the nominal dynamics model or numerous parameters of robotics are usually unsuitable for real applications, a model-free adaptive sliding mode control with an adjustable funnel boundary is proposed for robot manipulators with uncertainties. First, time delay estimation (TDE) technique is utilized to estimate the unknown dynamics of the control system, which ensures an attractive model-free advantage. Furthermore, a modified funnel function is introduced to transform the trajectory tracking error fall within an adjustable funnel boundary strictly. Then, based on the transformed error variable, a novel funnel nonsingular fast terminal sliding mode control scheme is developed to enhance the transient and steady-state tracking performance of the closed-loop control system. To cope with the TDE error, an adaptive update method is designed with only one adaptive parameter, which is adaptively tuned according to the sliding surface. Finally, the simulation and experimental results are presented to illustrate the superiority and high-precision tracking performance of the proposed approach.Funding Information
- Central Leading Local Science and Technology Development Foundation of Liaoning Province (2021JH6/10500132)
- National Key Research and Development Program of China (2017YBF1300900)
- Natural Science Foundation of Liaoning Province (2019-KF-03-02)
- Fundamental Research Funds for the Central Universities (N2026003)
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