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Adaptive Nonsingular Fast Terminal Sliding Mode Impedance Control for Uncertainty Robotic Manipulators

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Abstract

This paper describes an impedance controller that uses the fast terminal sliding mode and adaptive neural networks. The proposed controller improves the dynamic trajectory performance and force tracking accuracy of robotic manipulators in three-dimensional uncertain environments. The key idea of the controller is that the improved adaptive nonsingular fast terminal sliding mode (ANFTSMC) uses integral control to eliminates chattering without affecting the tracking performance. Also, adaptive neural networks are introduced into the sliding mode controller to provide a local approximation in the dynamic model of the robotic manipulator, and the stability is guaranteed through the Lyapunov theory. Finally, combined with impedance control, the operation of the robotic manipulator is simulated in environments containing various obstacle types, and experimental validation has demonstrated the effectiveness and superiority of the proposed control scheme.

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Funding

This work is partially supported by the National Natural Science Foundation of China (11972343, 91848202), the Funded and Supported by National Key R&D Program of China (No.2016YFE0205000).

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Authors and Affiliations

  1. CAS Key Laboratory of On-orbit Manufacturing and Integration for Space Optics System, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, 130033, Changchun, China

    Huayang Sai, Zhenbang Xu, Yi Li & Kai Wang

  2. University of Chinese Academy of Sciences, 100049, Beijing, China

    Huayang Sai, Yi Li & Kai Wang

  3. Center of Materials Science and Optoelectronics Engineering, University of Chinese Academy of Sciences, 100049, Beijing, China

    Zhenbang Xu

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  1. Huayang Sai
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  2. Zhenbang Xu
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  3. Yi Li
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  4. Kai Wang
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Correspondence to Zhenbang Xu.

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Sai, H., Xu, Z., Li, Y. et al. Adaptive Nonsingular Fast Terminal Sliding Mode Impedance Control for Uncertainty Robotic Manipulators. Int. J. Precis. Eng. Manuf. 22, 1947–1961 (2021). https://doi.org/10.1007/s12541-021-00589-9

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  • DOI: https://doi.org/10.1007/s12541-021-00589-9

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