Title: A framework of terminal sliding mode for force/position control of constrained manipulators

Authors: Qianlei Cao; Shurong Li; Dongya Zhao

Addresses: College of Information and Control Engineering, China University of Petroleum, Qingdao, 266580, China ' College of Information and Control Engineering, China University of Petroleum, Qingdao, 266580, China ' College of Chemical Engineering, China University of Petroleum, Qingdao, 266580, China

Abstract: In this paper, a novel framework of terminal sliding mode is established for force/position control of robotic manipulators whose end-effectors are in contact with constrained surfaces. The framework introduces the terminal sliding mode control concept into both force tracking and position tracking and can serve as a basis for finite-time control study of constrained manipulators. The advantages of the proposed strategy are threefold: 1) the force tracking error and the position tracking error can both converge to zero in finite time; 2) the force convergence rate near the equilibrium and the steady-state force tracking precision are increased in comparison with conventional force tracking control methods; 3) the high gain of conventional force/position tracking control methods is significantly reduced in this method, which is more desirable in industrial applications. Lyapunov stability analysis and simulation study demonstrate the effectiveness of the proposed strategy.

Keywords: finite-time stability; force control; position control; terminal SMC; sliding mode control; robust control; constrained manipulators; robot control; tracking control; force tracking error; position tracking error; force convergence rate; Lyapunov stability analysis; simulation.

DOI: 10.1504/IJMIC.2015.072986

International Journal of Modelling, Identification and Control, 2015 Vol.24 No.4, pp.332 - 341

Available online: 11 Nov 2015 *

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