Robust Nonsingular Fast Terminal Sliding Mode Control in Trajectory Tracking for a Rigid Robotic Arm
- Authors: Jouila A.1, Essounbouli N.2, Nouri K.1, Hamzaoui A.2
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Affiliations:
- Laboratory of Advanced Systems (LSA), Polytechnic School of Tunisia, National Engineering School of Tunis (ENIT)
- CReSTIC, IUT de Troyes
- Issue: Vol 53, No 6 (2019)
- Pages: 511-521
- Section: Article
- URL: https://journals.rcsi.science/0146-4116/article/view/175874
- DOI: https://doi.org/10.3103/S0146411619060063
- ID: 175874
Cite item
Abstract
In this paper, a novel concept of robust Nonsingular Fast Terminal Sliding Mode controller (NFTSMC) is adopted for the trajectory tracking problem of a non-linear system. The developed controller is based on NFTSM controller and \({{{\text{H}}}_{\infty }}\) approach. The use of the NFTSM controller offers a fast convergence rate, avoids singularities, but still suffers from chattering. In order to overcome this limitation, a new term in the control law is inspired by the technique of \({{{\text{H}}}_{\infty }}{\text{;}}\) it interferes by managing uncertainties and external disturbances without knowing their upper bound. Stability analysis of the closed-loop system is accomplished using the Lyapunov criterion. Several simulation results are given to show the effectiveness of the proposed approach.
About the authors
A. Jouila
Laboratory of Advanced Systems (LSA), Polytechnic School of Tunisia,National Engineering School of Tunis (ENIT)
Author for correspondence.
Email: ameni.jouila@enit.utm.tn
Tunisia, Tunis
N. Essounbouli
CReSTIC, IUT de Troyes
Email: ameni.jouila@enit.utm.tn
France, 9 Rue de Québec, BP 396, Troyes Cedex, 10026
K. Nouri
Laboratory of Advanced Systems (LSA), Polytechnic School of Tunisia,National Engineering School of Tunis (ENIT)
Email: ameni.jouila@enit.utm.tn
Tunisia, Tunis
A. Hamzaoui
CReSTIC, IUT de Troyes
Email: ameni.jouila@enit.utm.tn
France, 9 Rue de Québec, BP 396, Troyes Cedex, 10026