Sliding mode tracking control of picking manipulator based on hyperbolic tangent function

LI Jiehao; LIU Hongxian; LUO Qunfei; LU Jiahuan

doi:10.7671/j.issn.1001-411X.202406029

Journal of South China Agricultural University > 2025 > 46(2): 238-245. > DOI: 10.7671/j.issn.1001-411X.202406029

LI Jiehao, LIU Hongxian, LUO Qunfei, et al. Sliding mode tracking control of picking manipulator based on hyperbolic tangent function[J]. Journal of South China Agricultural University, 2025, 46(2): 238-245. DOI: 10.7671/j.issn.1001-411X.202406029

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Sliding mode tracking control of picking manipulator based on hyperbolic tangent function

College of Engineering, South China Agricultural University/Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, South China Agricultural University, Guangzhou 510642, China

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Received Date: June 20, 2024
Available Online: January 06, 2025
Published Date: December 30, 2024

Graphical Abstract

Abstract

Abstract

Objective
To solve the problem of end trajectory tracking control in the application of mechanical arms in the agricultural field, and ensure the high-precision trajectory tracking and stable operation of the agricultural picking robot picking end.
Method
It was suggested to use a hyperbolic tangent function-based sliding mode tracking control approach for a picking robot arm. A model of the manipulator dynamics based on the workspace was built using inverse kinematics, and a sliding mode tracking controller for the hyperbolic tangent function was created. The asymptotic stability of the control system was guaranteed by the Lyapunov function. The simulation control system of the manipulator was built in the MATLAB/Simulink environment to verify the control algorithm, and the tracking effect of the sliding mode controller on the end trajectory of the manipulator was analyzed.
Result
The simulation test results showed that the sliding mode controller based on the hyperbolic tangent function achieved high-precision trajectory tracking and stable control, improved the convergence speed of the terminal trajectory tracking, reduced the robot end trajectory tracking control error, and reduced the convergence time of the terminal trajectory tracking curve by 50%, effectively improved the real-time performance and tracked accuracy of the robot picking system compared with the switching function sliding mode controller.
Conclusion
The research can provide an effective control method for the practical application of robotic arm picking.
- Picking manipulator,
- Workspace,
- Sliding mode control,
- Hyperbolic tangent function,
- Trajectory tracking

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References (23)

References

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Sliding mode tracking control of picking manipulator based on hyperbolic tangent function