Publisher : Institute of Control, Robotics and Systems
DOI : 10.5302/J.ICROS.2016.16.0028
Title & Authors
Robust Control for Unknown Disturbance of Robotic System Using Prescribed Tracking Error Constraint Control and Finite-Time SMC Ryu, Hyun-Jea; Shin, Dong-Suk; Han, Seong-Ik;
This paper presents a robust finite-time sliding mode control (SMC) scheme for unknown disturbance and unmodeled nonlinear friction and dynamics in the robotic manipulator. A finite-time SMC (FSMC) surface and finite-time sliding mode controller are constructed to obtain faster error convergence than the conventional infinite-time based SMC. By adding prescribed constraint control term to a finite-time SMC to compensate for unknown disturbance and uncertainties, a robust control scheme can be designed as well as faster convergence control. In addition, simpler controller structure is built by using feed-forwarding upper bound coefficients of each manipulator dynamic parameters instead of model-based control or adaptive observer to estimate unknown manipulator parameters. Simulation and experimental evaluations highlight the efficacy of the proposed control scheme for an articulated robotic manipulator.