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- Title
Nonlinear Nonsingular Fast Terminal Sliding Mode Control Using Deep Deterministic Policy Gradient.
- Authors
Xu, Zefeng; Huang, Wenkai; Li, Zexuan; Hu, Linkai; Lu, Puwei; Fortuna, Luigi
- Abstract
Featured Application: The control strategy proposed to this paper can be applied to the joint position and velocity tracking down industrial robots (series or parallel manipulators). Theoretically, it is suitable for general second-order nonlinear systems, such as inverted pendulum control, motor coupling control, dual manipulator cooperative control, etc. Background: As a control strategy of industrial robots, sliding mode control has the advantages of fast response and simple physical implementation, but it still has the problems of chattering and low tracking accuracy caused by chattering. This paper proposes a new sliding mode control strategy for the application of industrial robot control, which effectively solves these problems. Methods: In this paper, a deep deterministic policy gradient–nonlinear nonsingular fast terminal sliding mode control (DDPG–NNFTSMC) strategy is proposed for industrial robot control. In order to improve the tracking control accuracy and anti-interference ability, DDPG is used to approach the uncertainties of the system in real time, which ensures the robustness of the system in various uncertain environments. Lyapunov function is used to prove the stability and finite time convergence of the system. Compared with the nonsingular terminal sliding mode control (NTSMC), the time to reach the equilibrium point is shorter. With the help of MATLAB/Simulink, the tracking accuracy and control effects are compared with traditional terminal sliding mode control (TSMC), NTSMC and radial basis function–sliding mode control (RBF–SMC), the results showed that it had the advantages of nonsingularity, finite time convergence, small tracking error. The motion accuracy and anti-interference ability of the uncertain manipulator system was further improved, and the chattering problem of the system in the motion process is effectively eliminated.
- Subjects
SLIDING mode control; INVERTED pendulum (Control theory); MANIPULATORS (Machinery); INDUSTRIAL robots; ROBOT control systems; PROBLEM solving; PARALLEL robots
- Publication
Applied Sciences (2076-3417), 2021, Vol 11, Issue 10, p4685
- ISSN
2076-3417
- Publication type
Article
- DOI
10.3390/app11104685