Han, L. orcid.org/0000-0002-4023-3322, Mao, J. orcid.org/0000-0001-8979-2646, Du, H. et al. (2 more authors) (2024) Disturbance-rejection position tracking control of industrial robots via a discrete-time super-twisting observer–based fast terminal sliding mode approach. Transactions of the Institute of Measurement and Control. ISSN 0142-3312
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.
Metadata
Item Type: | Article |
---|---|
Authors/Creators: |
|
Copyright, Publisher and Additional Information: | © The Author(s) 2024. This is an author produced version of an article published in Transactions of the Institute of Measurement and Control. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Industrial robots; tracking control; super-twisting observer; discrete-time sliding mode control |
Dates: |
|
Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 21 Jun 2024 08:41 |
Last Modified: | 02 Aug 2024 15:49 |
Status: | Published online |
Publisher: | SAGE Publications |
Identification Number: | 10.1177/01423312241239714 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:213697 |