Decentralized sliding-mode control of robotic manipulator with constraint workspace: a finite-convergent barrier Lyapunov approach

Abstract

The aim of this manuscript is to develop a robust output-based controller for a robot manipulator (RM), under the presence of state constraints. A novel methodology is proposed to solve the tracking trajectory problem between the joints position of a RM and desired reference trajectories, using a barrier sliding mode (BSM) control. The controller design guarantees the tracking trajectory and the fulfillment of the state constraints considering the presence of perturbations. In this study, it is considered that only the angular position of each RM articulation is available. A decentralized adaptive super-twisting algorithm estimates the angular velocity of the corresponding RM. A class of barrier Lyapunov function (BLF) is used to analyze the finite-time stability of the sliding surface in a closed-loop with the proposed controller. An example of a numerical evaluation considering a two-link RM illustrates the advantages obtained with the proposed methodology compared to the non-barrier control design.