TDE Based Model-free Control for Rigid Robotic Manipulators under Nonlinear Friction
نویسندگان
چکیده
This paper establishes a model-free finite-time tracking control of nonlinear robotic manipulator systems. The proposed controller incorporates both time delay estimation (TDE) and an enhanced terminal sliding mode (TSMC). improved TSMC scheme is devised using fractional-order (FOTSMC) proportional-integral-derivative (PID) to obtain robust high performance. TDE designed estimate the unknown dynamics manipulators including Stribeck friction external disturbances. Due friction, effect error may fail desired performance; thus, another loop compensate for generated by non-smooth frictions. Lyapunov criterion used investigate stability analyze behavior approach. Finally, computer simulations method on PUMA 560 are performed in contrast with FOTSMC adaptive nonsingular (AFONTSM).
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ژورنال
عنوان ژورنال: Scientia Iranica
سال: 2022
ISSN: ['1026-3098', '2345-3605']
DOI: https://doi.org/10.24200/sci.2022.57252.5141