Finite-Time Continuous Nonsingular Terminal Modified Adaptive-Gain Super-Twisting Control: Application to a 2-DOF Planar Robot Manipulator System
提出一种有限时间连续非奇异终端改进自适应增益超螺旋控制方法，用于二阶受扰系统，避免奇异问题、提高收敛速度，并放松对扰动及其导数边界信息的要求，实验验证了在二自由度平面机器人机械臂位置控制中的有效性。
This article proposes finite-time continuous nonsingular terminal modified adaptive-gain super-twisting control (FT-CNT-MAG-STC) for the second-order disturbed systems. Compared with existing sliding-mode controllers, the noteworthy improvements of the proposed framework are the fast finite-time convergence, continuous control signal, ease-of-implementation feature, and relaxation of the assumption related to the information on the bounds of the disturbance and its derivative. In the proposed framework, a fast nonsingular terminal sliding surface is first developed such that the singularity problem is avoided and the convergence rate is improved. Then, we design a continuous modified super-twisting algorithm with an adaptive gain, under which the need for the bounds information of the disturbance and its derivative is relaxed and the performance of the closed-loop system is enhanced. Rigorous analysis is provided to prove the finite-time convergence of the system states to small regions containing the origin. We apply the proposed framework to the position control for a 2-DOF planar robot manipulator system. Various experimental results are illustrated to evaluate the effectiveness of the designed position controller.