Tracking Control of Robotic Manipulators Using Fractional-Order Sliding-Mode with Adaptive Gain

Minghao Zhou; Siwei Cheng; William Cai; Long Xu; Ying Chi; Lei Chen

doi:10.1109/IPEMC-ECCEAsia48364.2020.9367700

Tracking Control of Robotic Manipulators Using Fractional-Order Sliding-Mode with Adaptive Gain

Minghao Zhou, Siwei Cheng, William Cai, Long Xu, Ying Chi, Lei Chen

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

1 引用（Scopus）

摘要

This paper proposes a tracking control strategy of robotic manipulators using fractional-order sliding-mode with adaptive gain. The design methods of terminal sliding-mode and fractional-order terminal sliding-mode controllers are developed to implement the high-precision tracking control of rigid robotic manipulators. The control signals in the proposed controller are continuous. The chattering is attenuated and singularity is avoided by fractional-order terminal sliding-manifold. The control gain is adaptive to compensate the uncertainties in the control matrix of rigid robotic manipulators. Simulation results validate the proposed methods.

源语言	英语
主期刊名	2020 IEEE 9th International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia
出版商	Institute of Electrical and Electronics Engineers Inc.
页	588-593
页数	6
ISBN（电子版）	9781728153018
DOI	https://doi.org/10.1109/IPEMC-ECCEAsia48364.2020.9367700
出版状态	已出版 - 29 11月 2020
已对外发布	是
活动	9th IEEE International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia - Nanjing, 中国期限: 29 11月 2020 → 2 12月 2020

出版系列

姓名	2020 IEEE 9th International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia

会议

会议	9th IEEE International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia
国家/地区	中国
市	Nanjing
时期	29/11/20 → 2/12/20

访问文件

10.1109/IPEMC-ECCEAsia48364.2020.9367700

其它文件与链接

链接到 Scopus 的出版物

引用此

Zhou, M., Cheng, S., Cai, W., Xu, L., Chi, Y., & Chen, L. (2020). Tracking Control of Robotic Manipulators Using Fractional-Order Sliding-Mode with Adaptive Gain. 在 2020 IEEE 9th International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia (页码 588-593). 文章 9367700 (2020 IEEE 9th International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IPEMC-ECCEAsia48364.2020.9367700

Zhou, Minghao ; Cheng, Siwei ; Cai, William 等. / Tracking Control of Robotic Manipulators Using Fractional-Order Sliding-Mode with Adaptive Gain. 2020 IEEE 9th International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia. Institute of Electrical and Electronics Engineers Inc., 2020. 页码 588-593 (2020 IEEE 9th International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia).

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title = "Tracking Control of Robotic Manipulators Using Fractional-Order Sliding-Mode with Adaptive Gain",

abstract = "This paper proposes a tracking control strategy of robotic manipulators using fractional-order sliding-mode with adaptive gain. The design methods of terminal sliding-mode and fractional-order terminal sliding-mode controllers are developed to implement the high-precision tracking control of rigid robotic manipulators. The control signals in the proposed controller are continuous. The chattering is attenuated and singularity is avoided by fractional-order terminal sliding-manifold. The control gain is adaptive to compensate the uncertainties in the control matrix of rigid robotic manipulators. Simulation results validate the proposed methods.",

keywords = "Fractional-order terminal sliding-mode, adaptive control, nonlinear control systems, robotic manipulators",

author = "Minghao Zhou and Siwei Cheng and William Cai and Long Xu and Ying Chi and Lei Chen",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 9th IEEE International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia ; Conference date: 29-11-2020 Through 02-12-2020",

year = "2020",

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Zhou, M, Cheng, S, Cai, W, Xu, L, Chi, Y & Chen, L 2020, Tracking Control of Robotic Manipulators Using Fractional-Order Sliding-Mode with Adaptive Gain. 在 2020 IEEE 9th International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia., 9367700, 2020 IEEE 9th International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia, Institute of Electrical and Electronics Engineers Inc., 页码 588-593, 9th IEEE International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia, Nanjing, 中国, 29/11/20. https://doi.org/10.1109/IPEMC-ECCEAsia48364.2020.9367700

Tracking Control of Robotic Manipulators Using Fractional-Order Sliding-Mode with Adaptive Gain. / Zhou, Minghao; Cheng, Siwei; Cai, William 等.
2020 IEEE 9th International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia. Institute of Electrical and Electronics Engineers Inc., 2020. 页码 588-593 9367700 (2020 IEEE 9th International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Tracking Control of Robotic Manipulators Using Fractional-Order Sliding-Mode with Adaptive Gain

AU - Zhou, Minghao

AU - Cheng, Siwei

AU - Cai, William

AU - Xu, Long

AU - Chi, Ying

AU - Chen, Lei

PY - 2020/11/29

Y1 - 2020/11/29

N2 - This paper proposes a tracking control strategy of robotic manipulators using fractional-order sliding-mode with adaptive gain. The design methods of terminal sliding-mode and fractional-order terminal sliding-mode controllers are developed to implement the high-precision tracking control of rigid robotic manipulators. The control signals in the proposed controller are continuous. The chattering is attenuated and singularity is avoided by fractional-order terminal sliding-manifold. The control gain is adaptive to compensate the uncertainties in the control matrix of rigid robotic manipulators. Simulation results validate the proposed methods.

AB - This paper proposes a tracking control strategy of robotic manipulators using fractional-order sliding-mode with adaptive gain. The design methods of terminal sliding-mode and fractional-order terminal sliding-mode controllers are developed to implement the high-precision tracking control of rigid robotic manipulators. The control signals in the proposed controller are continuous. The chattering is attenuated and singularity is avoided by fractional-order terminal sliding-manifold. The control gain is adaptive to compensate the uncertainties in the control matrix of rigid robotic manipulators. Simulation results validate the proposed methods.

KW - Fractional-order terminal sliding-mode

KW - adaptive control

KW - nonlinear control systems

KW - robotic manipulators

UR - http://www.scopus.com/inward/record.url?scp=85103177382&partnerID=8YFLogxK

U2 - 10.1109/IPEMC-ECCEAsia48364.2020.9367700

DO - 10.1109/IPEMC-ECCEAsia48364.2020.9367700

M3 - Conference contribution

AN - SCOPUS:85103177382

T3 - 2020 IEEE 9th International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia

SP - 588

EP - 593

BT - 2020 IEEE 9th International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 9th IEEE International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia

Y2 - 29 November 2020 through 2 December 2020

ER -

Zhou M, Cheng S, Cai W, Xu L, Chi Y, Chen L. Tracking Control of Robotic Manipulators Using Fractional-Order Sliding-Mode with Adaptive Gain. 在 2020 IEEE 9th International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia. Institute of Electrical and Electronics Engineers Inc. 2020. 页码 588-593. 9367700. (2020 IEEE 9th International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia). doi: 10.1109/IPEMC-ECCEAsia48364.2020.9367700

Tracking Control of Robotic Manipulators Using Fractional-Order Sliding-Mode with Adaptive Gain

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