Journal of System Simulation
Abstract
Abstract: To address the trajectory tracking control challenges caused by modeling parameter inaccuracies and disturbance uncertainties in robotic arms, a non-singular fast integral terminal sliding mode control scheme was developed. A new type of non-singular fast integral terminal sliding mode controller was designed. The non-singular fast terminal sliding mode ensured the rapid convergence of the system while avoiding the singularity during convergence. The integral term was used to enhance the suppression ability of disturbances and ensure the rapid response of the controller to errors. Lyapunov stability theory was applied to analyze the controller's convergence. The simulation results show that the proposed control scheme can ensure the precise tracking of the joint trajectory even in the presence of external disturbances, thereby verifying the effectiveness of the scheme.
Recommended Citation
Chen, Tao; Wang, Lizhong; Zou, Xiangjun; and Li, Xiaojuan
(2025)
"Research on Non-singular Fast Integral Terminal Sliding Mode Trajectory Tracking Control of Six-axis Robotic Arm,"
Journal of System Simulation: Vol. 37:
Iss.
8, Article 17.
DOI: 10.16182/j.issn1004731x.joss.24-1027
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol37/iss8/17
First Page
2115
Last Page
2123
CLC
TP241
Recommended Citation
Chen Tao, Liu Jianxuan, Wang Lizhong, et al. Research on Non-singular Fast Integral Terminal Sliding Mode Trajectory Tracking Control of Six-axis Robotic Arm[J]. Journal of System Simulation, 2025, 37(8): 2115-2123.
DOI
10.16182/j.issn1004731x.joss.24-1027
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