Adaptive Sliding Mode Control of a 6-DOF RLED Robot Manipulator with Uncertain Parameters and External Disturbances

摘要

This paper addresses the end-effector position and orientation tracking problem of a 6-degrees of freedom (DOF) rigid link electrically driven (RLED) revolute joint serial robot manipulator with uncertain parameters and external disturbances. System uncertainties and external disturbances are bounded but their upper limits are unknown. The input matrix, which is always invertible and not necessarily a diagonal matrix, is also assumed to be uncertain with a certain bound. An adaptive sliding mode control (ASMC) is designed to solve the tracking problem given these uncertainties. Note that the designed control method can be applied to any RLED serial robot manipulator. No regression matrices are required and the uncertainty upper limits are not necessarily known. Furthermore, the controller computation time can be reduced by considering some parts of the system dynamics and the nth time- derivative reference signals of nth order system, in this case desired joint jerk signals, as unknown bounded uncertainties. The desired trajectory is defined in operational space while the designed ASMC works in joint space. The methods to convert the end-effector pose, velocity, acceleration, and jerk from operational space to joint space are also explained. The Lyapunov stability criterion is applied to prove the convergence of the adaptive gain of ASMC, the sliding surface, and system stability. Finally, simulation results verified ASMC performance.