In this article, we focus on the experimental validation of the developed adaptive nonsingular terminal sliding mode (ANTSM) controller for a networked manipulator system. The proposed control approach is designed to deal with a combination of adverse and inexactly known conditions in practice, including parametric uncertainties, frictions, exogenous disturbances, and random time-varying network delays. Another issue addressed in this article is the tradeoff between achieving a smooth convergence and a high tracking accuracy in the physical implementation of the ANTSM controller. Hence, a novel time-varying gain in a form of logistic function is introduced to provide converging smoothness and meanwhile improve the tracking accuracy. Experimental results and empirical analysis are provided to demonstrate the effectiveness and performance improvement of the proposed controller with a time-varying gain.

中文翻译：

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使用新型自适应非奇异终端滑模控制改进网络机械手的跟踪同步


在本文中，我们重点关注为网络机械臂系统开发的自适应非奇异终端滑模（ANTSM）控制器的实验验证。所提出的控制方法旨在处理实践中不利和不确切已知条件的组合，包括参数不确定性、摩擦、外源干扰和随机时变网络延迟。本文讨论的另一个问题是在 ANTSM 控制器的物理实现中实现平滑收敛和高跟踪精度之间的权衡。因此，引入了一种新的逻辑函数形式的时变增益，以提供收敛平滑性，同时提高跟踪精度。实验结果和实证分析证明了所提出的具有时变增益的控制器的有效性和性能改进。