Nonsingular fast predefined time convergence sliding mode control for construction robot

Abstract

To solve the practical engineering problem that the angle of a construction robot with an arbitrary initial value completely and accurately track the desired trajectory, this paper presents a control strategy for extending the desired trajectory, and a sliding mode controller with predefined time convergence is designed for an uncertain construction robot. Firstly, the special characteristics of the construction robot’s trajectory tracking control are analyzed, an extended desired trajectory control strategy including the arrival phase and the precise tracking phase is proposed, and the design method of the extended desired trajectory in the arrival stage is given. Then, based on the improved non-singular fast sliding mode surface and a novel stability criterion of predefined time convergence, a predefined time convergence sliding mode controller based on a state observer was designed for the construction robot, which enables the angle tracking error of the construction robot to converge to zero within the specified time, ensures the angle completely and accurately tracking the original desired trajectory. Comparative simulation results show that the angle tracking error based on the proposed algorithm reaches 0.0004 rad, with an accuracy improvement of 33 %, and solves the problem of control torque chattering.