Non-Singular Terminal Sliding Mode Controller with Nonlinear Disturbance Observer for Robotic Manipulator

摘要

Aiming at the problems of model uncertainties and other external interference in trajectory tracking control of n-degree of freedom manipulators, a non-singular terminal sliding mode controller with nonlinear disturbance observer (NDO–NTSMC) trajectory tracking method is proposed. A nonlinear disturbance observer (NDO) is designed to forecast and compensate the system external interference, and a nonlinear gain is designed to make the observer error achieve the expected exponential convergence rate so that the feedforward compensation control is realized. Then, a non-singular terminal sliding mode controller (NTSMC) built on nonlinear sliding surface is designed to surmount the singularity fault of classic terminal sliding mode controller (TSMC). Therefore, the time required from any initial state to reach the equilibrium point is finite. In addition, the redesign of the sliding surface ensures the tracking accuracy rate of uncertain systems. Then, based on Lyapunov principle, we complete the stability analysis. Finally, the method is applied to a 2-DOF robotic manipulator model compared with other methods. In the simulation, the manipulator needs to track a continuous trajectory under the condition of joint friction disturbance. The simulation result shows that the torque output of the designed method is chattering-free and smooth, and the tracking effect is precise. Simulation results indicate that the proposed controller has the advantages of excellent tracking performance, strong robustness, and a fast response.