Low Chattering Trajectory Tracking Control of Non-singular Fast Terminal Sliding Mode Based on Disturbance Observer

다국어 초록 (Multilingual Abstract)

The improvement of the performance of the multi-joint manipulator control system is of great significance to improve the level of industrial automation. The existing sliding mode control methods are difficult to ensure the high-precision and fast-tracking of joints of a manipulator to the desired trajectory under low chattering control input. Therefore, a non-singular fast terminal sliding mode control method based on a nonlinear disturbance observer is proposed. In addition, a new non-singular fast terminal sliding mode surface is designed. The performance comparison method of the sliding mode surface proves its better control quality. Aiming at the problem of serious chattering, the nonlinear disturbance observer technology, and saturation function method are introduced to effectively weaken the chattering. Finally, taking the 3-DOF manipulator as the research object, a comparative simulation experiment is carried out in the MATLAB / Simulink environment. The results show that under the uncertainty of modeling error, external disturbance, and joint friction, the designed control method not only solves the problems of singular control input and serious chattering but also realizes the high-precision and fast-tracking of each joint to the desired trajectory. Thus, the effectiveness and feasibility of the design method are verified. The improvement of the performance of the multi-joint manipulator control system is of great significance to improve the level of industrial automation. The existing sliding mode control methods are difficult to ensure the high-precision and fast-tracking of joints of a manipulator to the desired trajectory under low chattering control input. Therefore, a non-singular fast terminal sliding mode control method based on a nonlinear disturbance observer is proposed. In addition, a new non-singular fast terminal sliding mode surface is designed. The performance comparison method of the sliding mode surface proves its better control quality. Aiming at the problem of serious chattering, the nonlinear disturbance observer technology, and saturation function method are introduced to effectively weaken the chattering. Finally, taking the 3-DOF manipulator as the research object, a comparative simulation experiment is carried out in the MATLAB / Simulink environment. The results show that under the uncertainty of modeling error, external disturbance, and joint friction, the designed control method not only solves the problems of singular control input and serious chattering but also realizes the high-precision and fast-tracking of each joint to the desired trajectory. Thus, the effectiveness and feasibility of the design method are verified.