IDEAS home Printed from https://ideas.repec.org/a/eee/chsofr/v162y2022ics0960077922006798.html
   My bibliography  Save this article

Novel fast fixed-time sliding mode trajectory tracking control for manipulator

Author

Listed:
  • Zhang, Xin
  • Shi, Ran

Abstract

This paper studies the issue of high-precision trajectory tracking control for manipulator systems with uncertainty disturbances and develops a fast fixed-time control scheme. First, a new type of (FTSM) surface is constructed by combining inverse trigonometric functions, regardless of the size of the system state, which can obtain a faster convergence velocity and high accuracy. The stabilization time of this sliding mode (SM) surface is independent of the initial state. Subsequently, on this basis, an adaptive fixed-time control method is constructed by combining adaptive techniques through the new fixed-time stability lemma proposed in this paper, under which the system's SM variables and tracking errors are guaranteed to reach the region near the equilibrium point at a fixed time while the adaptive law estimates the upper bound of the disturbance and effectively weakens the chattering phenomenon. Finally, the simulation comparison is carried out under different conditions, and the simulation results show the superiority of the control scheme with high precision, fast velocity, and good robustness.

Suggested Citation

  • Zhang, Xin & Shi, Ran, 2022. "Novel fast fixed-time sliding mode trajectory tracking control for manipulator," Chaos, Solitons & Fractals, Elsevier, vol. 162(C).
    • Handle: RePEc:eee:chsofr:v:162:y:2022:i:c:s0960077922006798
    DOI: 10.1016/j.chaos.2022.112469
    as

    Download full text from publisher

    File URL: http://www.sciencedirect.com/science/article/pii/S0960077922006798
    Download Restriction: Full text for ScienceDirect subscribers only
    File URL: https://libkey.io/10.1016/j.chaos.2022.112469?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    References listed on IDEAS

    as
    1. Wang, Yang & Wang, Zhen & Chen, Mingshu & Kong, Lingyun, 2021. "Predefined-time sliding mode formation control for multiple autonomous underwater vehicles with uncertainties," Chaos, Solitons & Fractals, Elsevier, vol. 144(C).
    2. Xin Zhang & Wenbo Xu & Wenru Lu, 2021. "Fractional-Order Iterative Sliding Mode Control Based on the Neural Network for Manipulator," Mathematical Problems in Engineering, Hindawi, vol. 2021, pages 1-12, August.
    3. Seadawy, Aly R. & Iqbal, Mujahid & Lu, Dianchen, 2020. "Propagation of kink and anti-kink wave solitons for the nonlinear damped modified Korteweg–de Vries equation arising in ion-acoustic wave in an unmagnetized collisional dusty plasma," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 544(C).
    4. Yao, Qijia, 2021. "Synchronization of second-order chaotic systems with uncertainties and disturbances using fixed-time adaptive sliding mode control," Chaos, Solitons & Fractals, Elsevier, vol. 142(C).
    5. Wang, Weiping & Jia, Xiao & Luo, Xiong & Kurths, Jürgen & Yuan, Manman, 2019. "Fixed-time synchronization control of memristive MAM neural networks with mixed delays and application in chaotic secure communication," Chaos, Solitons & Fractals, Elsevier, vol. 126(C), pages 85-96.
    6. Rizvi, Syed T.R. & Seadawy, Aly R. & Ahmed, Sarfaraz & Younis, Muhammad & Ali, Kashif, 2021. "Study of multiple lump and rogue waves to the generalized unstable space time fractional nonlinear Schrödinger equation," Chaos, Solitons & Fractals, Elsevier, vol. 151(C).
    7. Mobayen, Saleh & Alattas, Khalid A. & Fekih, Afef & El-Sousy, Fayez F.M. & Bakouri, Mohsen, 2022. "Barrier function-based adaptive nonsingular sliding mode control of disturbed nonlinear systems: A linear matrix inequality approach," Chaos, Solitons & Fractals, Elsevier, vol. 157(C).
    Full references (including those not matched with items on IDEAS)

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Alsaade, Fawaz W. & Yao, Qijia & Bekiros, Stelios & Al-zahrani, Mohammed S. & Alzahrani, Ali S. & Jahanshahi, Hadi, 2022. "Chaotic attitude synchronization and anti-synchronization of master-slave satellites using a robust fixed-time adaptive controller," Chaos, Solitons & Fractals, Elsevier, vol. 165(P2).
    2. Mobayen, Saleh & Alattas, Khalid A. & Fekih, Afef & El-Sousy, Fayez F.M. & Bakouri, Mohsen, 2022. "Barrier function-based adaptive nonsingular sliding mode control of disturbed nonlinear systems: A linear matrix inequality approach," Chaos, Solitons & Fractals, Elsevier, vol. 157(C).
    3. Khalid A. Alattas & Mai The Vu & Omid Mofid & Fayez F. M. El-Sousy & Abdullah K. Alanazi & Jan Awrejcewicz & Saleh Mobayen, 2022. "Adaptive Nonsingular Terminal Sliding Mode Control for Performance Improvement of Perturbed Nonlinear Systems," Mathematics, MDPI, vol. 10(7), pages 1-18, March.
    4. Zhang, Mengjiao & Zang, Hongyan & Bai, Luyuan, 2022. "A new predefined-time sliding mode control scheme for synchronizing chaotic systems," Chaos, Solitons & Fractals, Elsevier, vol. 164(C).
    5. Iqbal, Muhammad S. & Seadawy, Aly R. & Baber, Muhammad Z. & Qasim, Muhammad, 2022. "Application of modified exponential rational function method to Jaulent–Miodek system leading to exact classical solutions," Chaos, Solitons & Fractals, Elsevier, vol. 164(C).
    6. Azhdari, Meysam & Binazadeh, Tahereh, 2022. "A novel adaptive SMC strategy for sustained oscillations in nonlinear sandwich systems based on stable limit cycle approach," Chaos, Solitons & Fractals, Elsevier, vol. 161(C).
    7. Sakthivel, Rathinasamy & Suveetha, V.T. & Nithya, Venkatesh & Sakthivel, Ramalingam, 2020. "Finite-time fault detection filter design for complex systems with multiple stochastic communication and distributed delays," Chaos, Solitons & Fractals, Elsevier, vol. 136(C).
    8. Hu, Xiang & Yin, Zhixiang, 2022. "A study of the pulse propagation with a generalized Kudryashov equation," Chaos, Solitons & Fractals, Elsevier, vol. 161(C).
    9. Sun, Meng & Zhuang, Guangming & Xia, Jianwei & Wang, Yanqian & Chen, Guoliang, 2022. "Stochastic admissibility and H∞ output feedback control for singular Markov jump systems under dynamic measurement output event-triggered strategy," Chaos, Solitons & Fractals, Elsevier, vol. 164(C).
    10. Surendar, R. & Muthtamilselvan, M. & Ahn, Kyubok, 2024. "Stochastic disturbance with finite-time chaos stabilization and synchronization for a fractional-order nonautonomous hybrid nonlinear complex system via a sliding mode control," Chaos, Solitons & Fractals, Elsevier, vol. 181(C).
    11. Seadawy, Aly R. & Ali, Safdar & Rizvi, Syed T.R., 2022. "On modulation instability analysis and rogue waves in the presence of external potential: The (n + 1)-dimensional nonlinear Schrödinger equation," Chaos, Solitons & Fractals, Elsevier, vol. 161(C).
    12. Abd-Allah Hyder & Ahmed H. Soliman & Clemente Cesarano & M. A. Barakat, 2021. "Solving Schrödinger–Hirota Equation in a Stochastic Environment and Utilizing Generalized Derivatives of the Conformable Type," Mathematics, MDPI, vol. 9(21), pages 1-16, October.
    13. Qi, Jianming & Cui, Qinghua & Bai, Leiqiang & Sun, Yiqun, 2024. "Investigating exact solutions, sensitivity, and chaotic behavior of multi-fractional order stochastic Davey–Sewartson equations for hydrodynamics research applications," Chaos, Solitons & Fractals, Elsevier, vol. 180(C).
    14. Rizvi, Syed T.R. & Seadawy, Aly R. & Farah, N. & Ahmad, S., 2022. "Application of Hirota operators for controlling soliton interactions for Bose-Einstien condensate and quintic derivative nonlinear Schrödinger equation," Chaos, Solitons & Fractals, Elsevier, vol. 159(C).
    15. Yan Zhou & Zhuang Cui & Ruimei Li, 2024. "Complex Dynamics and PID Control Strategies for a Fractional Three-Population Model," Mathematics, MDPI, vol. 12(23), pages 1-22, November.
    16. He, Xue-Jiao & Lü, Xing, 2022. "M-lump solution, soliton solution and rational solution to a (3+1)-dimensional nonlinear model," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 197(C), pages 327-340.
    17. Yao, Qijia, 2021. "Synchronization of second-order chaotic systems with uncertainties and disturbances using fixed-time adaptive sliding mode control," Chaos, Solitons & Fractals, Elsevier, vol. 142(C).
    18. Fei Yu & Li Liu & Binyong He & Yuanyuan Huang & Changqiong Shi & Shuo Cai & Yun Song & Sichun Du & Qiuzhen Wan, 2019. "Analysis and FPGA Realization of a Novel 5D Hyperchaotic Four-Wing Memristive System, Active Control Synchronization, and Secure Communication Application," Complexity, Hindawi, vol. 2019, pages 1-18, November.
    19. Qijia Yao & Hadi Jahanshahi & Stelios Bekiros & Jinping Liu & Abdullah A. Al-Barakati, 2023. "Fixed-Time Adaptive Chaotic Control for Permanent Magnet Synchronous Motor Subject to Unknown Parameters and Perturbations," Mathematics, MDPI, vol. 11(14), pages 1-14, July.
    20. Abinandhitha, R. & Monisha, S. & Sakthivel, R. & Manikandan, R. & Saat, S., 2023. "Proportional integral observer-based input–output finite-time stabilization for chaotic semi-Markov jump fuzzy systems," Chaos, Solitons & Fractals, Elsevier, vol. 167(C).

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:eee:chsofr:v:162:y:2022:i:c:s0960077922006798. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Thayer, Thomas R. (email available below). General contact details of provider: https://www.journals.elsevier.com/chaos-solitons-and-fractals .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.