Data-driven observer-based model-free adaptive discrete-time terminal sliding mode control of rigid robot manipulators

B. Esmaeili, M. Salim, M. Baradarannia, A. Farzamnia
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引用次数: 11

Abstract

This paper aims to design a data-driven observer-based model-free adaptive terminal sliding mode controller for rigid robot manipulators whose models are unknown in advance. First, the nonlinear robot manipulator dynamics are transformed to an equivalent linear discrete-time data-model using full-form dynamic linearization technique and multi-observers along with an adaptation law are designed in order to estimate system outputs and pseudo-partitioned Jacobian matrix, respectively. Second, based on a nonlinear data-driven terminal sliding surface, the robust discrete-time controller is obtained. Mathematical analysis guarantees the finite-time convergence and the stability of the closed-loop system. The comparative simulations lighten the superiority of the proposed work and the robustness of the proposed controller against external disturbances is validated by means of simulations.
基于数据驱动观测器的刚性机械臂无模型自适应离散时间终端滑模控制
针对模型事先未知的刚性机械臂,设计了一种基于数据驱动观测器的无模型自适应终端滑模控制器。首先,利用全形式动态线性化技术将非线性机器人机械臂动力学转化为等效的线性离散数据模型,设计了多观测器和自适应律,分别用于估计系统输出和伪分块雅可比矩阵。其次,基于非线性数据驱动的终端滑动面,得到鲁棒离散控制器;数学分析保证了闭环系统的有限时间收敛性和稳定性。仿真对比表明了所提方法的优越性,并通过仿真验证了所提控制器对外部干扰的鲁棒性。
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