Fast Terminal SMC with SPO for Trajectory Tracking of Robot Manipulator for Nuclear Reactor Dismantlement

摘要

In this study, a new robust controller, the terminal sliding mode control with sliding perturbation observer (TSMCSPO), is designed for a 5-DOF nuclear reactor dismantlement robot manipulator. After the multi-degree-of-freedom robot is modeled, there are perturbations in the system due to errors in dynamic modeling, uncertainty, and disturbance in the environment of the decommissioned nuclear reactor. For this reason, the sliding perturbation observer (SPO) estimates the system perturbation in real-time and reduces the chattering in sliding mode control by estimating and compensating for the perturbation. In terminal sliding mode control (TSMC), a nonlinear terminal sliding surface is introduced instead of a linear sliding surface to improve the convergence performance of the system. In TSMCSPO, the combination of terminal sliding mode control and SMCSPO improves the convergence performance of SMCSPO and makes the robot manipulator system have better trajectory tracking performance. The control algorithm has been applied to the reactor dismantlement robot manipulator system in Simulink. The simulation results show that the control algorithm has good performance.