A Novel Time Delay Nonsingular Fast Terminal Sliding Mode Control for Robot Manipulators with Input Saturation

Thanh Nguyen Truong, Anh Tuan Vo and Hee-Jun Kang ()
Additional contact information
Thanh Nguyen Truong: Department of Electrical, Electronic and Computer Engineering, University of Ulsan, Ulsan 44610, Republic of Korea
Anh Tuan Vo: Department of Electrical, Electronic and Computer Engineering, University of Ulsan, Ulsan 44610, Republic of Korea
Hee-Jun Kang: Department of Electrical, Electronic and Computer Engineering, University of Ulsan, Ulsan 44610, Republic of Korea

Mathematics, 2024, vol. 13, issue 1, 1-25

Abstract: Manipulator systems are increasingly deployed across various industries to perform complex, repetitive, and hazardous tasks, necessitating high-precision control for optimal performance. However, the design of effective control algorithms is challenged by nonlinearities, uncertain dynamics, disturbances, and varying real-world conditions. To address these issues, this paper proposes an advanced orbit-tracking control approach for manipulators, leveraging advancements in Time-Delay Estimation (TDE) and Fixed-Time Sliding Mode Control techniques. The TDE approximates the robot’s unknown dynamics and uncertainties, while a novel nonsingular fast terminal sliding mode (NFTSM) surface and novel fixed-time reaching control law (FTRCL) are introduced to ensure faster convergence within a fixed time and improved accuracy without a singularity issue. Additionally, an innovative auxiliary system is designed to address input saturation effects, ensuring that system states converge to zero within a fixed time even when saturation occurs. The Lyapunov-based theory is employed to prove the fixed-time convergence of the overall system. The effectiveness of the proposed controller is validated through simulations on a 3-DOF SAMSUNG FARA AT2 robot manipulator. Comparative analyses against NTSMC, NFTSMC, and GNTSMC methods demonstrate superior performance, characterized by faster convergence, reduced chattering, higher tracking accuracy, and a model-free design. These results underscore the potential of the proposed control strategy to significantly enhance the robustness, precision, and applicability of robotic systems in industrial environments.

Keywords: terminal sliding model control; robot manipulator; fixed-time control; time delay control; model-free control method; input saturation (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
References: View complete reference list from CitEc
Citations:

Downloads: (external link)
https://www.mdpi.com/2227-7390/13/1/119/pdf (application/pdf)
https://www.mdpi.com/2227-7390/13/1/119/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jmathe:v:13:y:2024:i:1:p:119-:d:1557537

Access Statistics for this article

Mathematics is currently edited by Ms. Emma He

More articles in Mathematics from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().