Non-singular fixed-time sliding mode control for unknown-dynamics manipulators interacting with environment

Kong, Haiyi; Li, Guang; Yang, Chenguang

Abstract

In this paper, a robust fixed-time controller is de-signed for manipulators with unknown dynamics while interacting with environment. To realize compliance of the manipulator to the environment, an admittance model is adopted in the system. In the controller design, a non-singular sliding mode torque is introduced to achieve fixed-time convergence of the system state, so that the system has better tracking performance and faster response to external interaction than that using the traditional terminal sliding mode method. As for the unknown dynamics of the manipulator, radial basis function neural networks are developed to approximate the parameters in the dynamics. At last, simulation studies are conducted to verify the effectiveness of the proposed method.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 2022 27th International Conference on Automation and Computing: Smart Systems and Manufacturing, ICAC 2022
• Start Date: Sep 1, 2022
• End Date: Sep 3, 2022
• Acceptance Date: Aug 1, 2022
• Publication Date: Oct 10, 2022
• Deposit Date: Oct 25, 2022
• Publicly Available Date: Oct 11, 2024
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• Book Title: 2022 27th International Conference on Automation and Computing (ICAC)
• ISBN: 978-1-6654-9808-1
• DOI: https://doi.org/10.1109/ICAC55051.2022.9911101
• Public URL: https://uwe-repository.worktribe.com/output/10104144
• Publisher URL: https://ieeexplore.ieee.org/document/9911101
• Related Public URLs: http://www.cacsuk.co.uk/index.php/icac2022; ; https://ieeexplore.ieee.org/xpl/conhome/9911058/proceeding