Non-singular Fast Terminal Sliding Mode Control of a Robotic Arm with Fuzzy Descending Observer Backstepping Method

杨晓辉; 汤丑焱; 邓福伟; 胡誉尹; 黄超

doi:10.13433/j.cnki.1003-8728.20230258

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Non-singular Fast Terminal Sliding Mode Control of a Robotic Arm with Fuzzy Descending Observer Backstepping Method

更新时间：2026-04-23

- Non-singular Fast Terminal Sliding Mode Control of a Robotic Arm with Fuzzy Descending Observer Backstepping Method
- Mechanical Science and Technology for Aerospace Engineering Vol. 44, Issue 6, Pages: 986-993(2025)
- 作者机构：
  
  南昌大学信息工程学院,南昌,330031
- 作者简介：
- 基金信息：
- DOI：10.13433/j.cnki.1003-8728.20230258
  CLC：
- Published：2025
- 稿件说明：
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杨晓辉, 汤丑焱, 邓福伟, et al. Non-singular Fast Terminal Sliding Mode Control of a Robotic Arm with Fuzzy Descending Observer Backstepping Method[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(6): 986-993.
DOI：

杨晓辉, 汤丑焱, 邓福伟, et al. Non-singular Fast Terminal Sliding Mode Control of a Robotic Arm with Fuzzy Descending Observer Backstepping Method[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(6): 986-993. DOI： 10.13433/j.cnki.1003-8728.20230258.

摘要

针对机械臂所构建的动力模型具有不确定性，为了逐步提高轨迹跟踪的精度和速度，提出了一种模糊降阶观测器反步法的非奇异性快速终端滑模控制器。该控制器采取了一种新型积分快速终端滑模面，利用反步法将复杂的非线性系统分解成不超过系统阶数的子系统，并且结合了模糊系统设计了模糊降阶观测器用来对系统的干扰进行估计和补偿，对于扰动观测值的力矩进行补偿，从而保证系统拥有快速有限时间收敛和非奇异性优越性能。为了保证系统的稳定性，采取Lyapunov方法证明了系统的稳定性，根据不同的方法对比展现出了期望轨迹的快速精准的跟踪。

Abstract

In order to gradually improve the accuracy and speed of trajectory tracking

a non-singularity fast terminal sliding mode controller witIn order to gradually improve the accuracy and speed of trajectory tracking

a non-singularity fast terminal sliding mode controller with fuzzy step-down observer backstepping method is proposed for constructing the dynamic model of the robotic arm.The controller adopts a new integral fast terminal sliding mode surface

decomposes the complex nonlinear system into subsystems not exceeding the order of the system with the backstepping method

and combines the fuzzy system to design a fuzzy reduced-order observer which is used to estimate and compensate the disturbance of the system for the moment of the perturbed observation

thus ensuring that the system has fast finite-time convergence and non-singularity superior performance.In order to ensure the stability of the system

the Lyapunov method is adopted in this paper to prove the stability of the system

and the fast and accurate tracking of the desired trajectory is shown according to the comparison of different methods.

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Related Institution

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