Finite-time trajectory tracking control of oscillatory-based manipulators based on an improved sliding mode reaching law

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Journal of Vibration and Shock ›› 2022, Vol. 41 ›› Issue (20) : 86-92.

GUO Yufei1,2,3，XU Shengyue1,2,3，LI Huizi4，WANG Zhigang1，HAO Zhiqiang1

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Abstract

To address the fast trajectory tracking problem of oscillatory-base manipulators, a novel sliding mode control based on an improved reaching law is proposed in this study. The nonlinear uncertain dynamical model of the oscillatory-base manipulator is obtained via Lagrange equations of the second kind, where the base’s term is regarded as uncertain external perturbations. A novel finite-time trajectory tracking control is designed based on an improved logarithmic-power reaching law and the fast terminal sliding surface. The effectiveness of the proposed control is verified theoretically and experimentally. Results demonstrate that the control effectively suppress the influence of the base oscillation, achieving the accurate trajectory tracking of the manipulator in a fast time. It can be concluded that the proposed control has good finite-time characteristic and robustness.
Key words: Oscillatory-base Manipulator; Sliding mode control; Finite-time control; Reaching law

Key words

Oscillatory-base Manipulator / Sliding mode control / Finite-time control / Reaching law

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GUO Yufei1,2,3，XU Shengyue1,2,3，LI Huizi4，WANG Zhigang1，HAO Zhiqiang1. Finite-time trajectory tracking control of oscillatory-based manipulators based on an improved sliding mode reaching law[J]. Journal of Vibration and Shock, 2022, 41(20): 86-92

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