1- Babol Noshirvani University of Technology-Department of Electrical and Computer Engineering
2- Shahid Sattari Aeronautical University of Science and Technology-2Department of Electrical Engineering
3- Tehran-Khatam Al-Anbia University-Department of Electrical Engineering
2- Shahid Sattari Aeronautical University of Science and Technology-2Department of Electrical Engineering
3- Tehran-Khatam Al-Anbia University-Department of Electrical Engineering
Abstract: (252 Views)
This paper presents a novel non-singular fast terminal decoupled sliding mode control for position tracking of flexible joint robotic manipulators under chaos and uncertainty. Firstly, a suitable chaotic reference is used as a synchronization mechanism to create chaos in the dynamics. Next, the conventional decoupled sliding mode control is examined. It is shown that this method faces challenges in achieving asymptotic stability for trajectory tracking under some conditions. Subsequently, a new coupling variable is designed, a non-singular fast terminal sliding surface is utilized, and a new reaching law is proposed in such a way that they can resolve not only the problems of the decoupled sliding mode control but also improve convergence time, reduce chattering, eliminate singularity, and provide finite-time asymptotic stability. A comprehensive convergence analysis is conducted for all the sliding surfaces. Finally, simulations and experimental implementations as hardware-in-the-loop are carried out to evaluate the performance of the proposed method. Additionally, the results are compared to the conventional decoupled sliding mode control and hierarchical sliding mode control. The results validate the effectiveness of the proposed control method in suppressing the deflection angle, improving convergence time, and reducing chattering in the control input in the presence of chaos and uncertainties.
Keywords: Decoupled sliding mode control, Flexible joint robot manipulator, Chaos, Uncertainty, Finite-time asymptotic stability.
Type of Article: Review paper |
Subject:
Special
Received: 2024/04/7 | Accepted: 2025/01/11 | ePublished ahead of print: 2025/01/21
Received: 2024/04/7 | Accepted: 2025/01/11 | ePublished ahead of print: 2025/01/21
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