Robust Finite-Time Tracking for a Class of Nonlinear Systems Comprising Interconnected Double Integrator Subsystems (Case study:Robot Manipulator)

Document Type : Original Article

Authors

1 Assistant Professor, Department of Electrical Engineering, Yazd University, Yazd, Iran

2 Ph.D Student, Department of Electrical Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran

3 Professor, School of Computer Engineering, Iran University of Science and Technology, Tehran, Iran, E-mail: Jahedmr@iust.ac.ir

Abstract

In this paper, the robust finite-time tracking for a class of nonlinear systems comprising interconnected double integrator subsystems is discussed. This particular class of nonlinear systems is able to describe and model a group of practical plants such as industrial robot manipulators, autonomous underwater vehicles (AUVs), autonomous marine vessels, unmanned aerial vehicles (UAVs), and inverted pendulums. By developing the nonsingular terminal sliding mode control (NTSMC) method and defining innovative nonlinear sliding manifolds, control inputs are designed in order to convert the aforementioned system to the canonical nonlinear form and, in consequence, two significant goals including the finite-time tracking objective and the global finite-time stabilization of the closed-loop system (subjected to unbounded disturbances and uncertainties) are provided and guaranteed. Furthermore, a remarkable relation is derived to estimate the convergence finite time regarding the mentioned tracking problem. This relation reveals that the convergence finite time extremely depends on the values of arbitrary constants of the designed control inputs. Finally, the proposed robust control scheme is numerically simulated onto two-link robot manipulator and simulation results illustrate that the designed control inputs properly fulfill the finite-time tracking objective.

Keywords

References

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