Fast Terminal Non-singular Adaptive Sliding Mode Control of a Two-link Robot with Finite-Time Estimation of External Disturbances

In this research, the combination of a robust controller and a finite-time observer is proposed according to the availability of measured variables and the multitude sources of uncertainty. The observer is used to estimate the disturbance load. To reach a good compromise between desired characteristics and design complexity or computational load is essential. In a first step and for the sake of comparison, some more conventional controllers are implemented on a two-link robot model. In the next step, using the combination of Finite Time observer (FTO) and Adaptive Non-Singular Fast Terminal Sliding Mode controller, the closed-loop efficiency is investigated under various conditions. While one of the crucial issues in combining different observers and controllers is to check out the stability of their closed-loop system, multiple criterion can be considered to compare the efficiency of such combinations. It has been tried to test the closed-loop tracking ability over high-frequency components and relatively important level of indeterminacy. Simulations show faster error convergence and better recovery with a reasonable computational cost.

کلیدواژه ها:

fast terminal non-singular adaptive sliding mode controller ، FTO ، Observer ، Robotics