Linyan Han, Jianliang Mao, Haibo Du, Yahui Gan, Shihua Li
{"title":"通过基于离散时超扭曲观测器的快速终端滑模方法实现工业机器人的干扰抑制位置跟踪控制","authors":"Linyan Han, Jianliang Mao, Haibo Du, Yahui Gan, Shihua Li","doi":"10.1177/01423312241239714","DOIUrl":null,"url":null,"abstract":"Facing the system uncertainties caused by unmodeled dynamics and unpredictable external disturbances, the robot position control for meeting the high-performance control requirements on higher accuracy and faster beat is vital for many industrial applications, such as welding and laser cutting tasks. This work aims to cope with the problem of precise and fast position tracking for robot manipulators with an effective and safe control scheme. Specifically, a discrete-time super-twisting observer (STO) is integrated into the scheme to estimate the uncertain dynamics (e.g. unmodeled dynamics and external disturbances) in the feedforward compensation part of the dynamics. Subsequently, a discrete-time fast terminal sliding mode controller (FTSMC) dominates the robot control to guarantee fast convergence of the position tracking error. The significant improvement of the proposed method with respect to other discrete-time sliding mode control approaches lies in that it is capable of alleviating the chattering-like problem, achieving a fast convergence and improving the robustness of sliding mode control against uncertain dynamics. To illustrate the effectiveness of the presented control scheme, several experiments on a six degrees of freedom (6DoF) robot manipulator are provided.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.7000,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Disturbance-rejection position tracking control of industrial robots via a discrete-time super-twisting observer–based fast terminal sliding mode approach\",\"authors\":\"Linyan Han, Jianliang Mao, Haibo Du, Yahui Gan, Shihua Li\",\"doi\":\"10.1177/01423312241239714\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Facing the system uncertainties caused by unmodeled dynamics and unpredictable external disturbances, the robot position control for meeting the high-performance control requirements on higher accuracy and faster beat is vital for many industrial applications, such as welding and laser cutting tasks. This work aims to cope with the problem of precise and fast position tracking for robot manipulators with an effective and safe control scheme. Specifically, a discrete-time super-twisting observer (STO) is integrated into the scheme to estimate the uncertain dynamics (e.g. unmodeled dynamics and external disturbances) in the feedforward compensation part of the dynamics. Subsequently, a discrete-time fast terminal sliding mode controller (FTSMC) dominates the robot control to guarantee fast convergence of the position tracking error. The significant improvement of the proposed method with respect to other discrete-time sliding mode control approaches lies in that it is capable of alleviating the chattering-like problem, achieving a fast convergence and improving the robustness of sliding mode control against uncertain dynamics. To illustrate the effectiveness of the presented control scheme, several experiments on a six degrees of freedom (6DoF) robot manipulator are provided.\",\"PeriodicalId\":49426,\"journal\":{\"name\":\"Transactions of the Institute of Measurement and Control\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.7000,\"publicationDate\":\"2024-04-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Transactions of the Institute of Measurement and Control\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://doi.org/10.1177/01423312241239714\",\"RegionNum\":4,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Transactions of the Institute of Measurement and Control","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1177/01423312241239714","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Disturbance-rejection position tracking control of industrial robots via a discrete-time super-twisting observer–based fast terminal sliding mode approach
Facing the system uncertainties caused by unmodeled dynamics and unpredictable external disturbances, the robot position control for meeting the high-performance control requirements on higher accuracy and faster beat is vital for many industrial applications, such as welding and laser cutting tasks. This work aims to cope with the problem of precise and fast position tracking for robot manipulators with an effective and safe control scheme. Specifically, a discrete-time super-twisting observer (STO) is integrated into the scheme to estimate the uncertain dynamics (e.g. unmodeled dynamics and external disturbances) in the feedforward compensation part of the dynamics. Subsequently, a discrete-time fast terminal sliding mode controller (FTSMC) dominates the robot control to guarantee fast convergence of the position tracking error. The significant improvement of the proposed method with respect to other discrete-time sliding mode control approaches lies in that it is capable of alleviating the chattering-like problem, achieving a fast convergence and improving the robustness of sliding mode control against uncertain dynamics. To illustrate the effectiveness of the presented control scheme, several experiments on a six degrees of freedom (6DoF) robot manipulator are provided.
期刊介绍:
Transactions of the Institute of Measurement and Control is a fully peer-reviewed international journal. The journal covers all areas of applications in instrumentation and control. Its scope encompasses cutting-edge research and development, education and industrial applications.