Global finite-time cooperative control for multiple manipulators using integral sliding mode control
Global finite-time cooperative control for multiple manipulators using integral sliding mode control
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DOI：
10.1002/asjc.2706
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发表时间：
2022-03-09
影响因子：
2.4
通讯作者：
Ceglarek, Dariusz
中科院分区：
文献类型：
--
作者：
Van, Mien;Ge, Shuzhi Sam;Ceglarek, Dariusz
本文首次针对协作多机械手提出了一种全局有限时间协作控制。所提出的控制方案是基于有限时间干扰观测器(FTDO)和有限时间积分滑模控制器(FTISMC)的集成，以对系统中的模型不确定性和扰动的影响具有较强的鲁棒性。重构了积分滑模控制器的切换项，使得期望的滑模流形能够在有限时间内收敛。积分滑模控制的标称控制器是基于一种先进的反推控制，即有限时间反推控制，它也提供了有限时间的收敛。将有限时间扰动观测器、有限时间切换项和有限时间反推控制器相结合，形成了一种新的全局有限时间积分滑模控制。以双两连杆机械手的协调控制为例，验证了该方法的有效性。
In this paper, a global finite-time cooperative control is first time proposed for cooperative multiple manipulators. The proposed control scheme is developed based on an integration between a finite-time disturbance observer (FTDO) and a finite-time integral sliding mode controller (FTISMC) to get a high robustness against the effects of the model uncertainties and disturbances in the system. The switching term of the integral sliding mode controller is reconstructed such that the desired sliding manifold can be convergent in a finite time. The nominal controller of the integral sliding mode control is developed based on an advanced backstepping control, namely, finite-time backstepping control, which also provides a finite time convergence. The integration of the finite-time disturbance observer, finite-time switching term, and the finite-time backstepping controller forms a new global finite-time integral sliding mode control. The effectiveness of the proposed approach is demonstrated based on a cooperative control of a dual two-link manipulators.