Research on Non-singular Fast Integral Terminal Sliding Mode Trajectory Tracking Control of Six-axis Robotic Arm

doi:10.16182/j.issn1004731x.joss.24-1027

Abstract

Abstract:

To address the trajectory tracking control challenges caused by modeling parameter inaccuracies and disturbance uncertainties in robotic arms, a non-singular fast integral terminal sliding mode control scheme was developed. A new type of non-singular fast integral terminal sliding mode controller was designed. The non-singular fast terminal sliding mode ensured the rapid convergence of the system while avoiding the singularity during convergence. The integral term was used to enhance the suppression ability of disturbances and ensure the rapid response of the controller to errors. Lyapunov stability theory was applied to analyze the controller's convergence. The simulation results show that the proposed control scheme can ensure the precise tracking of the joint trajectory even in the presence of external disturbances, thereby verifying the effectiveness of the scheme.

Key words: robotic arm, non-singular fast integral terminal sliding mode control, trajectory tracking, Lyapunov stability theory

CLC Number:

TP241

Chen Tao, Liu Jianxuan, Wang Lizhong, Zou Xiangjun, Li Xiaojuan. Research on Non-singular Fast Integral Terminal Sliding Mode Trajectory Tracking Control of Six-axis Robotic Arm[J]. Journal of System Simulation, 2025, 37(8): 2115-2123.

Figures/Tables 12

Fig. 1

Fig. 2

Table 1

Improved DH parameters

连杆	连杆长度 $a i / m$	连杆扭转角 $α i / r a d$	关节偏移量 $d i / m$
1	0	0	0.121 5
2	0	$π / 2$	0
3	-0.3	0	0
4	-0.267	0	0.110 5
5	0	$π / 2$	0.09
6	0	$- π / 2$	0.082

Table 1

Fig. 3

Table 2

Main parameter values

参数	值	参数	值
$α$	1	$η$	0.1
$β$	1	$m$	10
$r 1$	1.5	$n$	3
$r 2$	1.3	$λ$	2
$k$	$d i a g (40,40,40, 40,40,40)$	$μ$	$d i a g (0.001,0.001,0.001, 0.001,0.001,0.001)$

Table 2

Fig. 4

Fig. 5

Table 3

Fig. 6

Fig. 7

Fig. 8

Fig. 9

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关节	NFTSMC
Ⅰ	0.000 54	0.000 25	0.000 36
Ⅱ	0.001 46	0.001 25	0.001 07
Ⅲ	0.000 44	0.000 71	0.000 37
Ⅳ	0.001 10	0.000 80	0.000 70
Ⅴ	0.000 27	0.000 18	0.000 12
Ⅵ	0.204 00	0.019 00	0.014 00