TY - GEN
T1 - Adaptive Tracking Control of Manipulators Based on Backstepping Sliding Mode Method
AU - Xiu, Yang
AU - Xu, Jinxiang
AU - Wang, Wei
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2022
Y1 - 2022
N2 - This paper presents an adaptive tracking control method of manipulators based on backstepping sliding mode method. The proposed control method uses the limiting function in the sliding mode equation to eliminate the chattering problem caused by the sign function. Meanwhile, using the adaptive control method, the uncertain parameters in the manipulator modeling are replaced by the estimated values. The controller adjusts the estimated value in real time according to the feedback state variables, which greatly improves the robustness of the manipulator. Firstly, the dynamic model of the rigid manipulator with three degrees of freedom is established. Then, an adaptive tracking control method based on backstepping sliding mode method is proposed, and the corresponding adaptive tracking controller is designed. Simultaneously, the suitable Lyapunov function is found and the global stability of the controlled system is proved. Finally, the effectiveness and superiority of the proposed controller are verified by the simulation experiment.
AB - This paper presents an adaptive tracking control method of manipulators based on backstepping sliding mode method. The proposed control method uses the limiting function in the sliding mode equation to eliminate the chattering problem caused by the sign function. Meanwhile, using the adaptive control method, the uncertain parameters in the manipulator modeling are replaced by the estimated values. The controller adjusts the estimated value in real time according to the feedback state variables, which greatly improves the robustness of the manipulator. Firstly, the dynamic model of the rigid manipulator with three degrees of freedom is established. Then, an adaptive tracking control method based on backstepping sliding mode method is proposed, and the corresponding adaptive tracking controller is designed. Simultaneously, the suitable Lyapunov function is found and the global stability of the controlled system is proved. Finally, the effectiveness and superiority of the proposed controller are verified by the simulation experiment.
KW - Adaptive control
KW - Manipulators
KW - Sliding mode method
UR - http://www.scopus.com/inward/record.url?scp=85130914339&partnerID=8YFLogxK
U2 - 10.1007/978-981-16-9492-9_3
DO - 10.1007/978-981-16-9492-9_3
M3 - Conference contribution
AN - SCOPUS:85130914339
SN - 9789811694912
T3 - Lecture Notes in Electrical Engineering
SP - 22
EP - 29
BT - Proceedings of 2021 International Conference on Autonomous Unmanned Systems, ICAUS 2021
A2 - Wu, Meiping
A2 - Niu, Yifeng
A2 - Gu, Mancang
A2 - Cheng, Jin
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Autonomous Unmanned Systems, ICAUS 2021
Y2 - 24 September 2021 through 26 September 2021
ER -