The goal of this study is to solve the tracking control problem for an n-DOF manipulator, regardless of friction or control direction. An adaptive sliding mode control (ASMC) with a Nussbaum function is designed to address the aforementioned difficulties. The sliding mode control (SMC) in the suggested control ensures that the tracking problem is solved and that the manipulator responds quickly. To deal with the unknown external disturbance and lessen the chattering impact in the system, adaptive laws for the robust gain in the SMC are created. Furthermore, in practise, errors in the connection between actuators and drivers, referred to as uncertain control direction, cause the manipulator to suffer substantial damage. The ASMC law is multiplied by the Nussbaum function to solve this problem. The stability and resilience of the entire system are studied using a Lyapunov technique. Finally, many simulations are run on a 3-DOF manipulator, and the results are compared to those of existing controllers to verify the suggested method's benefits. Advanced fault-tolerant controllers for robotic manipulators can be developed using the findings in this research.
Author(S) Details
Seung Hun Han
Department of Mechanical System Engineering, Tongyeong Campus, Gyeongsang National University, Tongyeong 53064, Korea.
Manh Son Tran
Department of Automatic Control, Ho Chi Minh City University of Technology and Education, Ho Chi Minh City 700000, Vietnam.
Duc Thien Tran
Department of Automatic Control, Ho Chi Minh City University of Technology and Education, Ho Chi Minh City 700000, Vietnam.
View Book:- https://stm.bookpi.org/NVST-V10/article/view/4880
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