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This paper proposes an adaptive backstepping nonsingular fast terminal sliding mode control (ABNFTSMC) scheme that incorporates an adaptive sliding mode disturbance observer (ASMDO). The developed algorithm is utilized for trajectory tracking of 2-degree-of-freedom (2-DOF) robotic manipulator in presence of multiple disturbances. Firstly, The manipulator’s model is established, taking into account parameter uncertainties, friction, and other uncertain disturbances. Next, an ASMDO is developed to observe lumped disturbance with unknown change rate. In addition, an ABNFTSMC is constructed to ensure system’s steadiness and improve tracking performance based on disturbances estimation result, where adaptive update rule is designed to offset residual unobserved disturbances. Finally, numerical simulations are implemented on a 2-DOF robotic manipulator to validate efficacy of developed composite control scheme.

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Two-Layer Adaptive Composite Anti-disturbance Control for Robotic Manipulator With Multiple Disturbances

  • 会议论文

  • 发表日期：

    2025年

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  • Lina Zhang,
  • Xiuming Yao

摘要

This paper proposes an adaptive backstepping nonsingular fast terminal sliding mode control (ABNFTSMC) scheme that incorporates an adaptive sliding mode disturbance observer (ASMDO). The developed algorithm is utilized for trajectory tracking of 2-degree-of-freedom (2-DOF) robotic manipulator in presence of multiple disturbances. Firstly, The manipulator’s model is established, taking into account parameter uncertainties, friction, and other uncertain disturbances. Next, an ASMDO is developed to observe lumped disturbance with unknown change rate. In addition, an ABNFTSMC is constructed to ensure system’s steadiness and improve tracking performance based on disturbances estimation result, where adaptive update rule is designed to offset residual unobserved disturbances. Finally, numerical simulations are implemented on a 2-DOF robotic manipulator to validate efficacy of developed composite control scheme.