Fixed Time Sliding Mode Control of Manipulator System with Input Dead Zone
GUO Chenghao1a, LIU Zhen1, JIANG Baoping2
1. a. School of Automation; b. Shandong Key Laboratory of Industrial Control Technology, Qingdao University,Qingdao 266071,China; c. Qingdao Key Laboratory of Embodied Intelligence and Robot Control; 2. School of Electronic and Information Engineering,Suzhou University of Science and Technology,Suzhou 215009,China
Abstract：An adaptive fixed-time sliding mode control method based on neural network is proposed for uncertain manipulator systems with actuator input dead zone. Based on the adaptive neural network and the minimum parameter learning method, the adaptive neural network sliding mode controller of the closed loop system of the manipulator is designed to effectively compensate the input dead zone of the manipulator, and only one parameter is updated online. Based on the fixed-time stability theory, it is proved that the controller can not only achieve the reachability of the sliding mode surface, but also ensure that the position tracking error signal of the closed-loop system converges to any small neighborhood with zero as the center in a fixed time, and then exponentially converges to zero. Finally, the simulation results verify the effectiveness of the proposed control method, and improve the transient and steady-state performance of the manipulator's tracking control to a certain extent.
郭程浩, 刘振, 江保平. 带有输入死区的机械臂系统固定时间滑模控制[J]. 复杂系统与复杂性科学, 2026, 23(4): 152-160.
GUO Chenghao, LIU Zhen, JIANG Baoping. Fixed Time Sliding Mode Control of Manipulator System with Input Dead Zone[J]. Complex Systems and Complexity Science, 2026, 23(4): 152-160.
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