Continuous finite-time integral sliding mode control of robotic manipulator with input deadzone and disturbance/uncertainty compensation

摘要

This paper focuses on tracking trajectory for robotic manipulator, considering external disruptions and internal uncertainties. Robotic manipulators are highly versatile and efficient, finding extensive applications in both industry and research. Accurate control is vital for these manipulators to work properly. But, system uncertainties and disturbances make achieving this accuracy challenging. The proposed controller can manage system uncertainties and disturbances, making it reliable and effective for real-world use. An elegant control approach that combines an integral terminal sliding surface with an observer to achieve chattering-free control, is proposed. Moreover, Lyapunov stability theory is used to prove that it can globally track robotic systems in finite-time. This controller offers clear advantages: it is easy to implement, ensures smooth operation without chattering, achieves fast response, and maintains high tracking accuracy. The simulation results demonstrate that the proposed algorithm is effective in terms of tracking accuracy and resilience.