ArticleScientific reports2023
Adaptive nonsingular terminal sliding mode control of robot manipulator based on contour error compensation.
Article in Scientific reports, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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1 citing paper in PubMed.
- Prescribed time control of position and force tracking for dualarm robots with output error constraints.Scientific reports · 2025Article
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4 authors.
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Abstract
To achieve accurate contour tracking of robotic manipulators with system uncertainties, external disturbance and actuator faults, a cross-coupling contour adaptive nonsingular terminal sliding mode control (CCCANTSMC) is proposed. A nonsingular terminal sliding mode manifold is developed which eliminates the singularity completely. In order to avoid the demand of the prior knowledge of system uncertainties, external disturbance and actuator faults in practical applications, an adaptive tuning approach is proposed. The stability of the proposed control strategy is demonstrated by the finite-time stability theory. Then, the developed controller combines adaptive nonlinear terminal sliding mode control (ANTSMC) of joint trajectory tracking and proportion-differentiation control of end-effector contour tracking by introducing the coupling factor between multiple axes based on Jacobian. Moreover, a unified framework of cross-coupling contour compensation and reference position pre-compensation is built. Finally, numerical simulation and experimental results validate the effectiveness of the proposed control strategy.
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