Practical Nonsingular Terminal Sliding-Mode Control of Robot Manipulators for High-Accuracy Tracking Control

• Published in: IEEE transactions on industrial electronics (1982) Vol. 56; no. 9; pp. 3593 - 3601
• Main Authors: Maolin Jin, Maolin Jin, Jinoh Lee, Jinoh Lee, Pyung Hun Chang, Pyung Hun Chang, Chintae Choi, Chintae Choi
• Format: Journal Article
• Language: English
• Published: New York IEEE 01-09-2009; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Control systems; Convergence; Fuzzy control; Manipulator dynamics; Manipulators; Model-free control; Nonlinear control systems; Nonlinear systems; nonsingular terminal sliding mode (NTSM); Robot arms; Robot control; Robots; Robust control; Robustness; Sliding mode control; terminal sliding mode (TSM); Terminals; time-delay estimation (TDE); Tracking control; Uncertainty
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/TIE.2009.2024097

This paper presents a practical nonsingular terminal sliding-mode (TSM) tracking control design for robot manipulators using time-delay estimation (TDE). The proposed control assures fast convergence due to the nonlinear TSM, and requires no prior knowledge about the robot dynamics due to the TDE. Despite its model-free nature, the proposed control provides high-accuracy control and robustness against parameters variations. The simplicity, robustness, and fast convergence of the proposed control are verified through both 2-DOF planar robot simulations and 3-DOF PUMA-type robot experiments.