Quantized Input Signal based Adaptive Terminal Sliding Mode Control for Robotic Manipulator

Abstract

This paper presents the adaptive terminal sliding mode control (ATSMC) for robotic manipulators using input quantization in the presence of uncertainties and external disturbance. The concept of adaptive quantized control for robot manipulator systems is explored in this study, which involves the introduction of a novel approach for creating input quantization with hysteretic quantizer. Initially, the approach involves suggesting adaptive terminal sliding mode, followed by the application of a hysteretic quantizer incorporating quantization error bounded within specific sectors for controlling the input signal. The proposed adaptive quantized control technique eliminates the chattering and provides convergence to origin in finite-time. The proposed control algorithm's effectiveness is shown through simulation results, illustrating its successful application in controlling a two-link robotic manipulator.