Funnel nonsingular terminal sliding mode control based on TDE for robotic manipulators with model uncertainties

摘要

Due to the accurate robotics dynamics model or numerous parameters are usually unsuitable for real applications, a funnel nonsingular terminal sliding mode control(NTSMC) based on time delay estimate(TDE) is developed in our research paper. Firstly, the TDE technique is developed to compensate the system dynamics for robotic manipulators, which can achieve an ideal model-free advantage. Further, a funnel variable is used to transform the tracking error fall within funnel boundary. Based on the funnel variable, a novel funnel NTSMC is designed to provide transient and steady-state trajectory tracking performance for robot system. Finally, the reasonable experimental results on Rethink sawyer are presented to verify the high accurate of trajectory tracking performance of our researched approach.