Adaptive Backstepping Sliding Mode Control of Trajectory Tracking for Robotic Manipulators

To achieve precise trajectory tracking of robotic manipulators in complex environment, the precise dynamic model, parameters identification, nonlinear characteristics, and disturbances are the factors that should be solved. Although parameters identification and adaptive estimate method were propose...

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Vydané v:Complexity (New York, N.Y.) Ročník 2020; číslo 2020; s. 1 - 11
Hlavní autori: Wu, Wenqiang, Puchen, Zhu, Baolin, Du, Dachang, Zhu
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Cairo, Egypt Hindawi Publishing Corporation 14.08.2020
Hindawi
John Wiley & Sons, Inc
Wiley
Predmet:
Adaptive control
Algorithms
Closed loop systems
Computer simulation
Control algorithms
Controllers
Coupling
Design techniques
Disturbances
Dynamic models
Dynamic response
Energy
Friction
Manipulators
Mathematical models
Numerical analysis
Parameter estimation
Parameter identification
Robot arms
Robot control
Robotics
Robots
Simulation methods
Sliding mode control
Tracking control
Trajectory control
Velocity
ISSN:1076-2787, 1099-0526
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Shrnutí:To achieve precise trajectory tracking of robotic manipulators in complex environment, the precise dynamic model, parameters identification, nonlinear characteristics, and disturbances are the factors that should be solved. Although parameters identification and adaptive estimate method were proposed for robotic control in many literature studies, the essential factors, such as coupling and friction, are rarely mentioned as it is difficult to build the precise dynamic model of the robotic manipulator. An adaptive backstepping sliding mode control is proposed to solve the precise trajectory tracking under external disturbances with complex environment, and the dynamic response characteristics of a two-link robotic manipulator are described in this paper. First, the Lagrange kinetic method is used to derive the precise dynamic model which includes the nonlinear factor with friction and coupling. Moreover, the dynamic model of two-link robotic manipulator is built. Second, the estimate function for the nonlinear part is selected, and backstepping algorithm is used for analyzing the stabilities of the sliding mode controller by using Lyapunov theory. Furthermore, the convergence of the proposed controller is verified subject to the external disturbance. At last, numerical simulation results are reported to demonstrate the effectiveness of the proposed method.
Bibliografia:ObjectType-Article-1
SourceType-Scholarly Journals-1
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content type line 14
ISSN:1076-2787
1099-0526
DOI:10.1155/2020/3156787