A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability

In this paper, a robust observer-based control strategy for n-DOF uncertain robot manipulators with fixed-time stability was developed. The novel fixed-time nonsingular sliding mode surface enables control errors to converge to the equilibrium point quickly within fixed time without singularity. The...

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Autores principales:	Anh Tuan Vo, Thanh Nguyen Truong, Hee-Jun Kang, Mien Van
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	uniform robust exact differentiator nonsingular terminal sliding mode control fixed-time control robot manipulators Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/c38dd609371a43e38877558ef8e67342
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spelling	oai:doaj.org-article:c38dd609371a43e38877558ef8e673422021-11-11T19:06:04ZA Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability10.3390/s212170841424-8220https://doaj.org/article/c38dd609371a43e38877558ef8e673422021-10-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/21/7084https://doaj.org/toc/1424-8220In this paper, a robust observer-based control strategy for n-DOF uncertain robot manipulators with fixed-time stability was developed. The novel fixed-time nonsingular sliding mode surface enables control errors to converge to the equilibrium point quickly within fixed time without singularity. The development of the novel fixed-time disturbance observer based on a uniform robust exact differentiator also allows uncertain terms and exterior disturbances to be proactively addressed. The designed observer can accurately approximate uncertain terms within a fixed time and contribute to significant chattering reduction in the traditional sliding mode control. A robust observer-based control strategy was formulated, according to a combination of the fixed-time nonsingular terminal sliding mode control method and the designed observer, to yield global fixed time stability for n-DOF uncertain robot manipulators. The proposed controller proved definitively that it was able to obtain global stabilization in fixed time. The approximation capability of the proposed observer, the convergence of the proposed sliding surface, and the effectiveness of the proposed control strategy in fixed time were fully confirmed by simulation performance on an industrial robot manipulator.Anh Tuan VoThanh Nguyen TruongHee-Jun KangMien VanMDPI AGarticleuniform robust exact differentiatornonsingular terminal sliding mode controlfixed-time controlrobot manipulatorsChemical technologyTP1-1185ENSensors, Vol 21, Iss 7084, p 7084 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	uniform robust exact differentiator nonsingular terminal sliding mode control fixed-time control robot manipulators Chemical technology TP1-1185
spellingShingle	uniform robust exact differentiator nonsingular terminal sliding mode control fixed-time control robot manipulators Chemical technology TP1-1185 Anh Tuan Vo Thanh Nguyen Truong Hee-Jun Kang Mien Van A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability
description	In this paper, a robust observer-based control strategy for n-DOF uncertain robot manipulators with fixed-time stability was developed. The novel fixed-time nonsingular sliding mode surface enables control errors to converge to the equilibrium point quickly within fixed time without singularity. The development of the novel fixed-time disturbance observer based on a uniform robust exact differentiator also allows uncertain terms and exterior disturbances to be proactively addressed. The designed observer can accurately approximate uncertain terms within a fixed time and contribute to significant chattering reduction in the traditional sliding mode control. A robust observer-based control strategy was formulated, according to a combination of the fixed-time nonsingular terminal sliding mode control method and the designed observer, to yield global fixed time stability for n-DOF uncertain robot manipulators. The proposed controller proved definitively that it was able to obtain global stabilization in fixed time. The approximation capability of the proposed observer, the convergence of the proposed sliding surface, and the effectiveness of the proposed control strategy in fixed time were fully confirmed by simulation performance on an industrial robot manipulator.
format	article
author	Anh Tuan Vo Thanh Nguyen Truong Hee-Jun Kang Mien Van
author_facet	Anh Tuan Vo Thanh Nguyen Truong Hee-Jun Kang Mien Van
author_sort	Anh Tuan Vo
title	A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability
title_short	A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability
title_full	A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability
title_fullStr	A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability
title_full_unstemmed	A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability
title_sort	robust observer-based control strategy for n-dof uncertain robot manipulators with fixed-time stability
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/c38dd609371a43e38877558ef8e67342
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A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability

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