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A New Model-Free Trajectory Tracking Control for Robot Manipulators

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  • Yaoyao Wang
  • Kangwu Zhu
  • Bai Chen
  • Hongtao Wu

Abstract

In this paper, we propose a novel model-free trajectory tracking control for robot manipulators under complex disturbances. The proposed method utilizes time delay control (TDC) as its control framework to ensure a model-free scheme and uses adaptive nonsingular terminal sliding mode (ANTSM) to obtain high control accuracy and fast dynamic response under lumped disturbance. Thanks to the application of adaptive law, the proposed method can ensure high tracking accuracy and effective suppression of noise effect simultaneously. Stability of the closed-loop control system is proved using Lyapunov method. Finally, the effectiveness and advantages of the newly proposed TDC scheme with ANTSM dynamics are verified through several comparative simulations.

Suggested Citation

  • Yaoyao Wang & Kangwu Zhu & Bai Chen & Hongtao Wu, 2018. "A New Model-Free Trajectory Tracking Control for Robot Manipulators," Mathematical Problems in Engineering, Hindawi, vol. 2018, pages 1-13, December.
    • Handle: RePEc:hin:jnlmpe:1624520
    DOI: 10.1155/2018/1624520
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