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Fixed‐time adaptive sliding mode trajectory tracking control of uncertain mechanical systems
Author(s) -
Sun Liang,
Liu Yuanji
Publication year - 2020
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.2109
Subject(s) - control theory (sociology) , trajectory , controller (irrigation) , tracking error , adaptive control , convergence (economics) , tracking (education) , nonlinear system , computer science , lyapunov stability , lyapunov function , sliding mode control , stability (learning theory) , mathematics , control (management) , artificial intelligence , physics , machine learning , psychology , pedagogy , quantum mechanics , astronomy , agronomy , economics , biology , economic growth
An adaptive fixed‐time trajectory tracking controller is proposed for uncertain mechanical systems in this study. The polynomial reference trajectory is planned for trajectory tracking error. Fractional power of linear sliding mode is applied to design the nonlinear controller, adaptive laws are used to adjust controller parameters. Trajectory planning and fractional power are combined to ensure the tracking‐error convergence in a fixed time. The boundary layer technique is used to suppress the model uncertainties and decrease the chattering phenomenon. The closed‐loop system stability is proved strictly in the Lyapunov framework to show that the trajectory tracking errors and adaptive parameters tend to zero in a fixed time set in advance. Numerical simulation results of robotic manipulators illustrate the effectiveness of the proposed controller.