Adaptive Model-Free Control With Nonsingular Terminal Sliding-Mode for Application to Robot Manipulators

An adaptive model-free control with nonsingular terminal sliding-mode (AMC-NTSM) is proposed for high precision motion control of robot manipulators. The proposed AMC-NTSM employs one-sample delayed measurements to cancel nonlinearities and uncertainties of manipulators and to subsequently obtain su...
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Autor*in:	Jinsuk Choi [verfasserIn] Jaemin Baek [verfasserIn] Woongyong Lee [verfasserIn] Young Sam Lee [verfasserIn] Soohee Han [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2020

Schlagwörter:	Adaptive control time-delay control time-delay estimation nonsingular terminal sliding-mode robot manipulator

Übergeordnetes Werk:	In: IEEE Access - IEEE, 2014, 8(2020), Seite 169897-169907
Übergeordnetes Werk:	volume:8 ; year:2020 ; pages:169897-169907

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.1109/ACCESS.2020.3022523

Katalog-ID:	DOAJ016142268

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520			\|a An adaptive model-free control with nonsingular terminal sliding-mode (AMC-NTSM) is proposed for high precision motion control of robot manipulators. The proposed AMC-NTSM employs one-sample delayed measurements to cancel nonlinearities and uncertainties of manipulators and to subsequently obtain sufficiently simple models for easy control design. In order to maintain high gain controls even when the joint angles are close to the reference target values and accordingly achieve high precision and fast response control, a nonlinear sliding variable is also adopted instead of a linear one, asymptotically stabilizing controls by guaranteeing even a finite-time convergence. In addition, sliding variables are reflected on control inputs to support fast convergence while achieving uniform ultimate boundedness of tracking errors. The control gains of the proposed AMC-NTSM are adaptively adjusted over time according to the magnitude of the sliding variable. Such adaptive control gains become high for fast convergence or low for settling down to steady motion with better convergence precision, when necessary. The switching gains of the proposed AMC-NTSM are also adaptive to acceleration such that inherent time delay estimation (TDE) errors can be suppressed effectively regardless of their magnitudes. The simulation and experiment show that the proposed AMC-NTSM has good tracking performance.
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spelling	10.1109/ACCESS.2020.3022523 doi (DE-627)DOAJ016142268 (DE-599)DOAJbdafeb79c67841f5822471ab684ccb72 DE-627 ger DE-627 rakwb eng TK1-9971 Jinsuk Choi verfasserin aut Adaptive Model-Free Control With Nonsingular Terminal Sliding-Mode for Application to Robot Manipulators 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier An adaptive model-free control with nonsingular terminal sliding-mode (AMC-NTSM) is proposed for high precision motion control of robot manipulators. The proposed AMC-NTSM employs one-sample delayed measurements to cancel nonlinearities and uncertainties of manipulators and to subsequently obtain sufficiently simple models for easy control design. In order to maintain high gain controls even when the joint angles are close to the reference target values and accordingly achieve high precision and fast response control, a nonlinear sliding variable is also adopted instead of a linear one, asymptotically stabilizing controls by guaranteeing even a finite-time convergence. In addition, sliding variables are reflected on control inputs to support fast convergence while achieving uniform ultimate boundedness of tracking errors. The control gains of the proposed AMC-NTSM are adaptively adjusted over time according to the magnitude of the sliding variable. Such adaptive control gains become high for fast convergence or low for settling down to steady motion with better convergence precision, when necessary. The switching gains of the proposed AMC-NTSM are also adaptive to acceleration such that inherent time delay estimation (TDE) errors can be suppressed effectively regardless of their magnitudes. The simulation and experiment show that the proposed AMC-NTSM has good tracking performance. Adaptive control time-delay control time-delay estimation nonsingular terminal sliding-mode robot manipulator Electrical engineering. Electronics. Nuclear engineering Jaemin Baek verfasserin aut Woongyong Lee verfasserin aut Young Sam Lee verfasserin aut Soohee Han verfasserin aut In IEEE Access IEEE, 2014 8(2020), Seite 169897-169907 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:8 year:2020 pages:169897-169907 https://doi.org/10.1109/ACCESS.2020.3022523 kostenfrei https://doaj.org/article/bdafeb79c67841f5822471ab684ccb72 kostenfrei https://ieeexplore.ieee.org/document/9187596/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2020 169897-169907
allfields_unstemmed	10.1109/ACCESS.2020.3022523 doi (DE-627)DOAJ016142268 (DE-599)DOAJbdafeb79c67841f5822471ab684ccb72 DE-627 ger DE-627 rakwb eng TK1-9971 Jinsuk Choi verfasserin aut Adaptive Model-Free Control With Nonsingular Terminal Sliding-Mode for Application to Robot Manipulators 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier An adaptive model-free control with nonsingular terminal sliding-mode (AMC-NTSM) is proposed for high precision motion control of robot manipulators. The proposed AMC-NTSM employs one-sample delayed measurements to cancel nonlinearities and uncertainties of manipulators and to subsequently obtain sufficiently simple models for easy control design. In order to maintain high gain controls even when the joint angles are close to the reference target values and accordingly achieve high precision and fast response control, a nonlinear sliding variable is also adopted instead of a linear one, asymptotically stabilizing controls by guaranteeing even a finite-time convergence. In addition, sliding variables are reflected on control inputs to support fast convergence while achieving uniform ultimate boundedness of tracking errors. The control gains of the proposed AMC-NTSM are adaptively adjusted over time according to the magnitude of the sliding variable. Such adaptive control gains become high for fast convergence or low for settling down to steady motion with better convergence precision, when necessary. The switching gains of the proposed AMC-NTSM are also adaptive to acceleration such that inherent time delay estimation (TDE) errors can be suppressed effectively regardless of their magnitudes. The simulation and experiment show that the proposed AMC-NTSM has good tracking performance. Adaptive control time-delay control time-delay estimation nonsingular terminal sliding-mode robot manipulator Electrical engineering. Electronics. Nuclear engineering Jaemin Baek verfasserin aut Woongyong Lee verfasserin aut Young Sam Lee verfasserin aut Soohee Han verfasserin aut In IEEE Access IEEE, 2014 8(2020), Seite 169897-169907 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:8 year:2020 pages:169897-169907 https://doi.org/10.1109/ACCESS.2020.3022523 kostenfrei https://doaj.org/article/bdafeb79c67841f5822471ab684ccb72 kostenfrei https://ieeexplore.ieee.org/document/9187596/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2020 169897-169907
allfieldsGer	10.1109/ACCESS.2020.3022523 doi (DE-627)DOAJ016142268 (DE-599)DOAJbdafeb79c67841f5822471ab684ccb72 DE-627 ger DE-627 rakwb eng TK1-9971 Jinsuk Choi verfasserin aut Adaptive Model-Free Control With Nonsingular Terminal Sliding-Mode for Application to Robot Manipulators 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier An adaptive model-free control with nonsingular terminal sliding-mode (AMC-NTSM) is proposed for high precision motion control of robot manipulators. The proposed AMC-NTSM employs one-sample delayed measurements to cancel nonlinearities and uncertainties of manipulators and to subsequently obtain sufficiently simple models for easy control design. In order to maintain high gain controls even when the joint angles are close to the reference target values and accordingly achieve high precision and fast response control, a nonlinear sliding variable is also adopted instead of a linear one, asymptotically stabilizing controls by guaranteeing even a finite-time convergence. In addition, sliding variables are reflected on control inputs to support fast convergence while achieving uniform ultimate boundedness of tracking errors. The control gains of the proposed AMC-NTSM are adaptively adjusted over time according to the magnitude of the sliding variable. Such adaptive control gains become high for fast convergence or low for settling down to steady motion with better convergence precision, when necessary. The switching gains of the proposed AMC-NTSM are also adaptive to acceleration such that inherent time delay estimation (TDE) errors can be suppressed effectively regardless of their magnitudes. The simulation and experiment show that the proposed AMC-NTSM has good tracking performance. Adaptive control time-delay control time-delay estimation nonsingular terminal sliding-mode robot manipulator Electrical engineering. Electronics. Nuclear engineering Jaemin Baek verfasserin aut Woongyong Lee verfasserin aut Young Sam Lee verfasserin aut Soohee Han verfasserin aut In IEEE Access IEEE, 2014 8(2020), Seite 169897-169907 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:8 year:2020 pages:169897-169907 https://doi.org/10.1109/ACCESS.2020.3022523 kostenfrei https://doaj.org/article/bdafeb79c67841f5822471ab684ccb72 kostenfrei https://ieeexplore.ieee.org/document/9187596/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2020 169897-169907
allfieldsSound	10.1109/ACCESS.2020.3022523 doi (DE-627)DOAJ016142268 (DE-599)DOAJbdafeb79c67841f5822471ab684ccb72 DE-627 ger DE-627 rakwb eng TK1-9971 Jinsuk Choi verfasserin aut Adaptive Model-Free Control With Nonsingular Terminal Sliding-Mode for Application to Robot Manipulators 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier An adaptive model-free control with nonsingular terminal sliding-mode (AMC-NTSM) is proposed for high precision motion control of robot manipulators. The proposed AMC-NTSM employs one-sample delayed measurements to cancel nonlinearities and uncertainties of manipulators and to subsequently obtain sufficiently simple models for easy control design. In order to maintain high gain controls even when the joint angles are close to the reference target values and accordingly achieve high precision and fast response control, a nonlinear sliding variable is also adopted instead of a linear one, asymptotically stabilizing controls by guaranteeing even a finite-time convergence. In addition, sliding variables are reflected on control inputs to support fast convergence while achieving uniform ultimate boundedness of tracking errors. The control gains of the proposed AMC-NTSM are adaptively adjusted over time according to the magnitude of the sliding variable. Such adaptive control gains become high for fast convergence or low for settling down to steady motion with better convergence precision, when necessary. The switching gains of the proposed AMC-NTSM are also adaptive to acceleration such that inherent time delay estimation (TDE) errors can be suppressed effectively regardless of their magnitudes. The simulation and experiment show that the proposed AMC-NTSM has good tracking performance. Adaptive control time-delay control time-delay estimation nonsingular terminal sliding-mode robot manipulator Electrical engineering. Electronics. Nuclear engineering Jaemin Baek verfasserin aut Woongyong Lee verfasserin aut Young Sam Lee verfasserin aut Soohee Han verfasserin aut In IEEE Access IEEE, 2014 8(2020), Seite 169897-169907 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:8 year:2020 pages:169897-169907 https://doi.org/10.1109/ACCESS.2020.3022523 kostenfrei https://doaj.org/article/bdafeb79c67841f5822471ab684ccb72 kostenfrei https://ieeexplore.ieee.org/document/9187596/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2020 169897-169907
language	English
source	In IEEE Access 8(2020), Seite 169897-169907 volume:8 year:2020 pages:169897-169907
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topic_facet	Adaptive control time-delay control time-delay estimation nonsingular terminal sliding-mode robot manipulator Electrical engineering. Electronics. Nuclear engineering
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container_title	IEEE Access
authorswithroles_txt_mv	Jinsuk Choi @@aut@@ Jaemin Baek @@aut@@ Woongyong Lee @@aut@@ Young Sam Lee @@aut@@ Soohee Han @@aut@@
publishDateDaySort_date	2020-01-01T00:00:00Z
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callnumber-first	T - Technology
author	Jinsuk Choi
spellingShingle	Jinsuk Choi misc TK1-9971 misc Adaptive control misc time-delay control misc time-delay estimation misc nonsingular terminal sliding-mode misc robot manipulator misc Electrical engineering. Electronics. Nuclear engineering Adaptive Model-Free Control With Nonsingular Terminal Sliding-Mode for Application to Robot Manipulators
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topic_title	TK1-9971 Adaptive Model-Free Control With Nonsingular Terminal Sliding-Mode for Application to Robot Manipulators Adaptive control time-delay control time-delay estimation nonsingular terminal sliding-mode robot manipulator
topic	misc TK1-9971 misc Adaptive control misc time-delay control misc time-delay estimation misc nonsingular terminal sliding-mode misc robot manipulator misc Electrical engineering. Electronics. Nuclear engineering
topic_unstemmed	misc TK1-9971 misc Adaptive control misc time-delay control misc time-delay estimation misc nonsingular terminal sliding-mode misc robot manipulator misc Electrical engineering. Electronics. Nuclear engineering
topic_browse	misc TK1-9971 misc Adaptive control misc time-delay control misc time-delay estimation misc nonsingular terminal sliding-mode misc robot manipulator misc Electrical engineering. Electronics. Nuclear engineering
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title	Adaptive Model-Free Control With Nonsingular Terminal Sliding-Mode for Application to Robot Manipulators
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title_full	Adaptive Model-Free Control With Nonsingular Terminal Sliding-Mode for Application to Robot Manipulators
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title_sort	adaptive model-free control with nonsingular terminal sliding-mode for application to robot manipulators
callnumber	TK1-9971
title_auth	Adaptive Model-Free Control With Nonsingular Terminal Sliding-Mode for Application to Robot Manipulators
abstract	An adaptive model-free control with nonsingular terminal sliding-mode (AMC-NTSM) is proposed for high precision motion control of robot manipulators. The proposed AMC-NTSM employs one-sample delayed measurements to cancel nonlinearities and uncertainties of manipulators and to subsequently obtain sufficiently simple models for easy control design. In order to maintain high gain controls even when the joint angles are close to the reference target values and accordingly achieve high precision and fast response control, a nonlinear sliding variable is also adopted instead of a linear one, asymptotically stabilizing controls by guaranteeing even a finite-time convergence. In addition, sliding variables are reflected on control inputs to support fast convergence while achieving uniform ultimate boundedness of tracking errors. The control gains of the proposed AMC-NTSM are adaptively adjusted over time according to the magnitude of the sliding variable. Such adaptive control gains become high for fast convergence or low for settling down to steady motion with better convergence precision, when necessary. The switching gains of the proposed AMC-NTSM are also adaptive to acceleration such that inherent time delay estimation (TDE) errors can be suppressed effectively regardless of their magnitudes. The simulation and experiment show that the proposed AMC-NTSM has good tracking performance.
abstractGer	An adaptive model-free control with nonsingular terminal sliding-mode (AMC-NTSM) is proposed for high precision motion control of robot manipulators. The proposed AMC-NTSM employs one-sample delayed measurements to cancel nonlinearities and uncertainties of manipulators and to subsequently obtain sufficiently simple models for easy control design. In order to maintain high gain controls even when the joint angles are close to the reference target values and accordingly achieve high precision and fast response control, a nonlinear sliding variable is also adopted instead of a linear one, asymptotically stabilizing controls by guaranteeing even a finite-time convergence. In addition, sliding variables are reflected on control inputs to support fast convergence while achieving uniform ultimate boundedness of tracking errors. The control gains of the proposed AMC-NTSM are adaptively adjusted over time according to the magnitude of the sliding variable. Such adaptive control gains become high for fast convergence or low for settling down to steady motion with better convergence precision, when necessary. The switching gains of the proposed AMC-NTSM are also adaptive to acceleration such that inherent time delay estimation (TDE) errors can be suppressed effectively regardless of their magnitudes. The simulation and experiment show that the proposed AMC-NTSM has good tracking performance.
abstract_unstemmed	An adaptive model-free control with nonsingular terminal sliding-mode (AMC-NTSM) is proposed for high precision motion control of robot manipulators. The proposed AMC-NTSM employs one-sample delayed measurements to cancel nonlinearities and uncertainties of manipulators and to subsequently obtain sufficiently simple models for easy control design. In order to maintain high gain controls even when the joint angles are close to the reference target values and accordingly achieve high precision and fast response control, a nonlinear sliding variable is also adopted instead of a linear one, asymptotically stabilizing controls by guaranteeing even a finite-time convergence. In addition, sliding variables are reflected on control inputs to support fast convergence while achieving uniform ultimate boundedness of tracking errors. The control gains of the proposed AMC-NTSM are adaptively adjusted over time according to the magnitude of the sliding variable. Such adaptive control gains become high for fast convergence or low for settling down to steady motion with better convergence precision, when necessary. The switching gains of the proposed AMC-NTSM are also adaptive to acceleration such that inherent time delay estimation (TDE) errors can be suppressed effectively regardless of their magnitudes. The simulation and experiment show that the proposed AMC-NTSM has good tracking performance.
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title_short	Adaptive Model-Free Control With Nonsingular Terminal Sliding-Mode for Application to Robot Manipulators
url	https://doi.org/10.1109/ACCESS.2020.3022523 https://doaj.org/article/bdafeb79c67841f5822471ab684ccb72 https://ieeexplore.ieee.org/document/9187596/ https://doaj.org/toc/2169-3536
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author2	Jaemin Baek Woongyong Lee Young Sam Lee Soohee Han
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