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Compliant variable admittance adaptive fixed-time sliding mode control for trajectory tracking of robotic manipulators

Published online by Cambridge University Press:  02 May 2024

Hang Gao ,
Chao Ma Open the ORCID record for Chao Ma [Opens in a new window] ,
Xiaodong Zhang  and
Cheng Zhou
Hang Gao
Affiliation:
School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China.
Chao Ma*
Affiliation:
School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China.
Xiaodong Zhang
Affiliation:
Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application, Beijing, China Beijing Institute of Spacecraft System Engineering CAST, Beijing, China
Cheng Zhou
Affiliation:
School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China.
*
Corresponding author: Chao Ma; Email: cma@ustb.edu.cn
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Abstract

This paper presents a compliant variable admittance adaptive fixed-time sliding mode control (SMC) algorithm for trajectory tracking of robotic manipulators. Specifically, a compliant variable admittance algorithm and an adaptive fixed-time SMC algorithm are combined to construct a double-loop control structure. In the outer loop, the variable admittance algorithm is developed to adjust admittance parameters during a collision to minimize the collision time, which gives the robot compliance property and reduce the rigid collision influence. Then, by employing the Lyapunov theory and the fixed-time stability theory, a new nonsingular sliding mode manifold is proposed and an adaptive fixed-time SMC algorithm is presented in the inner loop. More precisely, this approach enables rapid convergence, enhanced steady-state tracking precision, and a settling time that is independent of system initial states. As a result, the effectiveness and improved performance of the proposed algorithm are demonstrated through extensive simulations and experimental results.

Keywords

variable admittance controlfixed-time controlsliding mode controltrajectory trackingrobotic manipulators
Type
Research Article
Information
Robotica , First View , pp. 1 - 30
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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