Robust Adaptive Fixed-Time Sliding-Mode Control for Uncertain Robotic Systems With Input Saturation | IEEE Journals & Magazine | IEEE Xplore

Robust Adaptive Fixed-Time Sliding-Mode Control for Uncertain Robotic Systems With Input Saturation


Abstract:

In this article, a robust adaptive fixed-time sliding-mode control method is proposed for robotic systems with parameter uncertainties and input saturation. First, a mode...Show More

Abstract:

In this article, a robust adaptive fixed-time sliding-mode control method is proposed for robotic systems with parameter uncertainties and input saturation. First, a model-based fixed-time controller is designed under the premise that the system parameters are known. Moreover, the unknown dynamics of robotic systems and the boundary of compounded disturbance are synthesized into a compounded uncertainty. Then, the Gaussian radial basis function neural networks (NNs) are selected to approximate the compounded uncertainty. In addition, the nonsingular fast terminal sliding-mode (NFTSM) control is incorporated into the proposed fixed-time control framework to enhance the robustness and convergence speed of unknown robotic systems. Finally, a comparative simulation based on a rigid manipulator shows the superiority and efficacy of the designed methods.
Published in: IEEE Transactions on Cybernetics ( Volume: 53, Issue: 4, April 2023)
Page(s): 2636 - 2646
Date of Publication: 20 April 2022

ISSN Information:

PubMed ID: 35442900

Funding Agency:


References

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