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Finite-time sliding mode joint positioning error constraint control for robot manipulator in the presence of unknown deadzone

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Abstract

This paper proposes two tracking error constraint finite-time sliding mode control schemes for unknown manipulator parameters with deadzone input nonlinearity. A transformed filtered tracking error surface was first constructed as a separated form to guarantee the predefined tracking performance. Next, a simple transformed prescribed error surface was considered to obtain the same predefined tracking performance. Both proposed controls adopt Finite-time sliding mode control (FSMC) with a non-model-based manipulator feedforward method to achieve rapid error convergence and fast control design. Unlike conventional controls with deazone compensation, the proposed controls are robust to deadzone nonlinearity without adding extra compensators. The effectiveness of the proposed scheme was proven by simulation and experimental evaluations for an articulated manipulator system with unknown deadzone and friction.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Tongmyong University, Busan, 48520, Korea

    Yeon Taek Oh

  2. School of Mechanical of Engineering, Pusan National University, Busan, 46241, Korea

    Seong Ik Han

Authors
  1. Yeon Taek Oh
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  2. Seong Ik Han
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Correspondence to Seong Ik Han.

Additional information

Recommended by Associate Editor Sangyoon Lee

Yeontaek Oh received his Ph.D. from University of Manchester in 1997. He is a Professor in School of Mechanical Engineering, Tongmyong University. His research interests include metrology, precision Engineering & robotics.

Seongik Han received his B.S. and M.S. degrees in Mechanical Engineering from Pusan National University, Korea, in 1987 and 1989, respectively, and the Ph.D. in Mechanical Design Engineering from Pusan National University in 1995. From 1995 to 2009, he was an Associate Professor of Electrical Automation of Suncheon First College, Korea. Now he is with the School of Mechanical Engineering, Pusan National University, Korea. His research interests include intelligent control, nonlinear control, robotic control, hydraulic servo system control, vehicle system control and steel process control.

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Oh, Y.T., Han, S.I. Finite-time sliding mode joint positioning error constraint control for robot manipulator in the presence of unknown deadzone. J Mech Sci Technol 32, 875–884 (2018). https://doi.org/10.1007/s12206-018-0138-9

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  • DOI: https://doi.org/10.1007/s12206-018-0138-9

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