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A Fast Terminal Sliding Mode Control Strategy for Trajectory Tracking Control of Robotic Manipulators

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Intelligent Computing Methodologies (ICIC 2020)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 12465))

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Abstract

This paper proposes a fast terminal sliding mode control strategy for trajectory tracking control of robotic manipulators. Firstly, to degrade the chattering behavior and speed up the fast response of the conventional Terminal Sliding Mode Control, a novel robust, reaching control law with two variable power components is introduced. With this proposal, the state error variables of the system quickly converge on the sliding surface whether their initial value is far or near to the sliding surface. Secondly, a Fast Terminal Sliding Mode surface is designed to guarantee that the system states arrive at the equilibrium and stabilize along the sliding surface with rapid convergence speed. The result is a new control strategy is formed based on the suggested reaching control law and the above sliding surface. Thanks to this hybrid method, the control performance expectations are guaranteed such as faster convergence, robustness with exterior disturbance and dynamic uncertainties, high tracking accuracy, and finite-time convergence. Moreover, the asymptotic stability and finite-time convergence of the control system are fully confirmed by Lyapunov theory. Finally, computer simulation examples are performed to verify the effectiveness of the suggested control strategy.

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Acknowledgement

This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (2019R1D1A3A03103528).

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Authors and Affiliations

  1. School of Electrical Engineering, University of Ulsan, Ulsan, 44610, South Korea

    Anh Tuan Vo, Hee-Jun Kang & Thanh Nguyen Truong

Authors
  1. Anh Tuan Vo
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  2. Hee-Jun Kang
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  3. Thanh Nguyen Truong
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Corresponding author

Correspondence to Hee-Jun Kang .

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Editors and Affiliations

  1. Machine Learning and Systems Biology, Tongji University, Shanghai, China

    De-Shuang Huang

  2. School of Electrical, Computer and Telecommunications Engineering, University of Wollongong, North Wollongong, NSW, Australia

    Prashan Premaratne

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Vo, A.T., Kang, HJ., Truong, T.N. (2020). A Fast Terminal Sliding Mode Control Strategy for Trajectory Tracking Control of Robotic Manipulators. In: Huang, DS., Premaratne, P. (eds) Intelligent Computing Methodologies. ICIC 2020. Lecture Notes in Computer Science(), vol 12465. Springer, Cham. https://doi.org/10.1007/978-3-030-60796-8_15

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  • DOI: https://doi.org/10.1007/978-3-030-60796-8_15

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-60795-1

  • Online ISBN: 978-3-030-60796-8

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