Received August 31, 2020, accepted October 16, 2020, date of publication October 27, 2020, date of current

version November 10, 2020.

Digital Object Identifier 10.1109/ACCESS.2020.3034220

Robust Continuous Sliding Mode Control for

Manipulator PMSM Trajectory Tracking
System Under Time-Varying
Uncertain Disturbances
BAOLEI WANG 1,2,3 , (Member, IEEE), CHI ZHANG 1 , (Senior Member, IEEE),
QINGWEI JIA3 , (Senior Member, IEEE), XIANGJUN LIU4 , AND GUILIN YANG 1
1 Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Material Technology and
Engineering, Chinese Academy of Sciences, Ningbo 315021, China
2 Ningbo Institute of Material Technology and Engineering, University of Chinese Academy of Science, Beijing 100049, China
3 Wild SC (Ningbo) Intelligent Technology Company Ltd., Ningbo 315000, China
4 Institute of Micro/Nano Electromechanical System, Donghua University, Shanghai 201620, China

Corresponding author: Chi Zhang (zhangchi@nimte.ac.cn)

This work was supported in part by the National Natural Science Foundation of China under Grant U1609206 and Grant 61803059, in part
by the National Key Research and Development Program under Grant 2018YFF01011502, in part by the Public projects of Zhejiang
province under Grant LGG18E070007, and in part by the Ningbo Innovation Team Project under Grant 2016B10016.

ABSTRACT This paper focuses on a robust continuous sliding mode control (RCSMC) method for manip-
ulator PMSM trajectory tracking system under time-varying uncertain disturbances. The main objective of
this study is to improve the trajectory tracking dynamic response and disturbances rejection ability of the
manipulator PMSM, and then the manipulator itself, by using the RCSMC method. The RCSMC method
consists of two key parts: a terminal continuous sliding mode controller (TCSMC), and an extended state
observer (ESO). The TCSMC has been demonstrated to have remarkable capabilities to reduce the chattering
phenomenon caused by high frequency switching function in the conventional sliding mode control law,
and reject the strong time-varying uncertain disturbances for PMSM velocity loops. However, the high
control gain, which could lead high velocity steady state fluctuations, is needed. Therefore, an extended
state observer is introduced to estimate the disturbances. The estimated disturbances are further used by the
velocity loop controller as a kind of feed-forward compensation to reduce the gain of the TCSMC method.
The stability of the PMSM trajectory tracking system with the RCSMC algorithm is guaranteed by the
Lyapunov stability criteria. Simulations have been conducted to verify the performance of the proposed
RCSMC algorithm. Finally, the proposed RCSMC algorithm is applied in a practical 6-DOF manipulator, and
the experimental results exhibit the extraordinary robustness and capabilities in dynamic position tracking
characteristics, velocity response and disturbances rejection.

INDEX TERMS Robust continuous sliding mode control, manipulator, PMSM control, trajectory tracking
system, time-varying uncertain disturbances.

I. INTRODUCTION implementation, the proportional-integral-derivative (PID)

The advanced permanent magnet synchronous motor (PMSM) control method is often adopted in practical PMSM trajectory
can offer many attractive features, such as high accuracy, tracking control system [1]–[3]. This method can satisfy the
large power density and quick response. Therefore, PMSMs control requirements to a certain extent when the mathemat-
are wildly used to drive the joints of the majority commer- ical model is accurate. However, PMSM systems in practical
cial manipulators. With the advantages of easy and simple manipulator system are usually affected by different kinds
of time-varying uncertain disturbances, such as external load
The associate editor coordinating the review of this manuscript and disturbances, unmodeled plant with high order dynamics,
approving it for publication was Luigi Biagiotti . internal friction and parameter uncertainty, etc. Under the

This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/
196618 VOLUME 8, 2020
B. Wang et al.: RCSMC for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances
influence of these disturbances, it is difficult to achieve
ideal performance for PMSM systems by the conventional
linear PID control methods. For example, when a 6-DOF
manipulator with PMSMs controlled by a traditional PID
controller is working at high speed, these disturbances could
lead significant vibration and inaccuracy [4]. The advanced
manipulators are often used to complete the high level,
precise and sophisticated jobs, such as precision assemble,
MEMS manufacture, biochemical operation, polishing and
grinding, aerospace equipment machining, etc. The control
technology of the high precision manipulator is one of the
fundamental key technologies of the advanced engineering.
And the progress of the high precision manipulator control
technology would promote the development of the related
academic. However, high precision manipulator application
often encounters many difficulties in practical engineering.
Especially the time-varying uncertain disturbances would
decrease the accuracy of the manipulator. Therefore, the
research work about the controller design for manipulator
PMSM trajectory tracking system under time-varying uncer-
tain disturbances has particularity scientific significance
and important practical meaning. Various nonlinear control
methods have been applied to deal with PMSM systems
with uncertain disturbances, such as neural network control
algorithm [5], [6], fuzzy control algorithm [7]–[9], adaptive
control algorithm [10]–[12], predictive control algorithm
[13]–[15], sliding mode control (SMC) algorithm [11], [16],
[17] and finite time control algorithm [18]–[20].
Among the above control algorithms, the sliding mode
control (SMC) algorithm has been attracting more and more
attentions due to the unique robustness to resist the time-
varying uncertain disturbances and simplicity of system
implementation and tuning. However, the weakness of slid-
ing mode control (SMC) is that the chattering phenomenon
is caused by high frequency switching of SMC algorithm.
Driven by the great significance of reducing or eliminat-
ing the chattering phenomenon, many researchers have pro-
posed different effective methods. One sophisticated method
is to select a right value of switching gain for the SMC
algorithm because the undesired chattering can be caused
by a large switching gain. Wu and Liu developed a slid-
ing mode controller incorporating characteristics of sliding
mode control into learning control [21]. Zhang proposed an
adaptive sliding mode controller to compensate the nonlinear
effect of friction and force ripple [22]. The compensation
scheme consists of a PD component and an adaptive sliding
mode component to estimate the unknown system param-
eters. Wang, et. al. introduced an SMC control algorithm
with a generalized proportional integral observer to estimate
the system disturbances [23]. Then the disturbances could
be compensated by introducing the estimated disturbances
into the SMC method. Through these control strategies, the
chattering can be reduced by setting small value of SMC
switching gain. Another sophisticated method to reduce the
chattering phenomenon is to design a continuous control
method. Yang and Zhang presented a method to reduce and
VOLUME 8, 2020
eliminate the chattering by a continuous control law [24].
Zhang, et. al. designed a terminal continuous sliding mode
controller (TCSMC) method by introducing the high fre-
quency switching function into the high order derivative of
the sliding mode variable [25]. The TCSMC method could
reduce chattering phenomenon and simultaneously force the
states of the system to converge to the target equilibrium
point in finite time. In addition, various kinds of the new
development about sliding mode control technology have
been making great progress. The literature [26] proposed a
combination of composite nonlinear feedback and integral
sliding mode techniques for fast and accurate chaos synchro-
nization of uncertain chaotic systems with Lipschitz non-
linear functions, time-varying delays and disturbances. The
literature [27] designed an adaptive super-twisting decoupled
terminal sliding mode control technique for a class of fourth-
order systems. The literature [28] introduced an adaptive
robust finite-time control method based on a global sliding
surface for the synchronization of a class of chaotic systems.
The literature [29] used a fast terminal sliding mode control
technique for robust tracking control of a nonlinear uncertain
mass-spring system in the existence of external perturbation.
In recent years, the other types of terminal sliding mode
control algorithm has been proposed, including integral ter-
minal sliding mode control method, fast sliding mode control
method, nonsingular terminal sliding mode control method,
exponential terminal sliding mode control method, etc.
In this paper, an originality and novelty RCSMC method
for manipulator PMSM trajectory tracking system under
time-varying uncertain disturbances is introduced. The
RCSMC method consists of the TCSMC algorithm and the
extended state observer. The TCSMC algorithm is designed
to rapidly stabilize the trajectory tracking error for PMSM
systems with time-varying uncertain disturbances and reduce
chattering phenomenon at the same time. However, a large
control gain value is needed in the TCSMC method to resist
the strong disturbances, which could lead to undesired veloc-
ity steady state fluctuations. The extended state observer
technology is then applied to make up for this disadvantage
of TCSMC by estimating the disturbances, tuning down the
value of the TCSMC control gain, and reducing the veloc-
ity steady state fluctuations. Meanwhile, the extended state
observer can improve the system control performance by
estimating and feed-forward compensating the disturbances.
In addition, a completely new and high performance soft-
ware and hardware implementation architecture is designed
based on the chip-set of 1-F28M35H52C1-ARM/DSP and
2-EP2C20-FPGA, which can be used to promote the com-
putational capability of the control system and eliminate the
impact of RCSMC complexity on engineering implementa-
tion.
The structure of this paper is as follows. The dynamics
model of the 6-DOF manipulator PMSM trajectory tracking
system is described in section II. The RCSMC method is
designed and the stability is proved in section III. Simulation
results are shown in section IV. The experimental results
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 B. Wang et al.: RCSMC for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances

with application to a 6-DOF manipulator are presented in between rotator mechanical angular velocity and the rotator
section V. The conclusions are given in section VI. The future electrical angular velocity can be described as
work of this paper is given in section VII.
ωe = pm ωm (7)
II. 6-DOF MANIPULATOR PMSM DYNAMIC MODEL For an ideal PMSM, Ld = Lq = L. By combining equation
To simplify the analysis, this paper assumes that the ideal (5), (6) and (7), the mathematic model of PMSM can be
PMSM satisfies the following conditions [30]: the magnetic established as
circuit of the PMSM is not saturated; the motor eddy current  rs Ud
and hysteresis can be ignored; the motor 3-phase stator wind- 
 id 0 = − id + pm ωm iq +
 L L
pm ωm ψf

ings are distributed sinusoidally.The PMSM stator voltage,  rs Uq
stator current and back EMF are all distributed sinusoidally iq = − iq − pm ωm id −
0
+ (8)
L L L
ψ

in the space. The stator voltage equation under the d-q coor-

 ωm =
 0 p m f Bω m T L
iq − −

dinate system is shown in equation (1) JL J JL
The vector control strategy of PMSM is adopted. This
(
Ud = rs id + ψ̇d − ωe ψq
(1) method consists of the current loop controller, the encoder
Uq = rs iq + ψ̇q − ωe ψd
of the motor rotator for position detection, Hall sensors and
where Ud and Uq are the armature voltage for d axis and q 6 −1 ADC modules for current detection, CLARK transfor-
axis, respectively; id and iq are the stator current for d axis mation module, PARK transformation module, inverse PARK
and q axis, respectively; rs is the armature winding resistance, transformation module, intelligent power module (IPM), and
ωe is the motor rotational electrical velocity; ψd and ψq space vector pulse width modulation (SVPWM) system. The
are the d axis flux component and q axis flux component, architecture diagram of the vector control strategy is shown
respectively. ψd and ψq can be calculated by the motor flux in Figure 1.
linkage equation (2) The vector control strategy commonly sets idref = 0 so as
( to simplify the control problem. If the current loops perform
ψd = Ld id + ψf well, the output id will also be 0, and the equation (8) can be
(2)
ψq = L q i q simplified as
where ψf is the stator winding flux linkage coupled from
 rs pm ωm ψf Uq
 iq 0 = − iq −
 +
rotator magnet, Ld and Lq are the d axis armature induc- L L L (9)
tance component and q axis armature inductance component,  ωm 0 = pm ψf iq − Bωm − TL

respectively; id and iq are the d axis armature current compo- JL J JL
nent and q axis armature current component, respectively. By The dynamic model of the 6-DOF manipulator can be
combining equation (1) and (2), equation (3) can be obtained described as
did

 Ud = rs id + Ld
 − ωe Lq iq τ = D(q)q00 + C(q, q0 ) + F(q0 ) + G(q) + J (q)T g (10)
dt (3)
 Uq = rs iq + Lq diq − ωe Ld id + ψf

 where τ is the vector of the driving torque applied on each
dt joint, q, q0 , q00 are respectively the vectors of generalized joint
The electromagnetic torque equation of the PMSM is rotation positions, velocities and accelerations, D is the joint-
shown as space inertia matrix, C is the Coriolis and centripetal coupling
matrix, F is the friction force, G is the gravity loading, the
Te = pm (ψd iq − ψq id ) (4) last term gives the joint force due to a wrench g applied at the
where Te is the electromagnetic torque, and pm is the motor end effector and J is the manipulator Jacobin.It can be seen
pole pairs. By combining equation (2) and (4), equation (5) from the equation(10) that the dynamics of the 6 joints of the
can be obtained. manipulator are coupled with each other.
The relationship between the PMSM dynamic model and
Te = pm (ψf iq + (Ld − Lq )iq id ) (5) the 6-DOF manipulator dynamic model can be described as
The mechanical motion system of the PMSM is shown as τi ϑmi
kreducei = = (11)

dωm 1 TL i qi

 = (Te − Bωm − TL )
dt JL (6) where kreducei is the reduction ratio of the reducer amounted
 dϑm = ωm
 in joint i, τi is the driving torque applied on joint i, TL i is
dt the PMSM load torque of joint i, ϑmi is the PMSM rotator
where ωm is the rotator mechanical angular velocity, JL is the mechanical angle of joint i, and qi is the rotation position
total moment of inertia of the motor rotator and the load, B is of joint i, respectively.The rotation position and torque of
the viscous friction coefficient, and TL is the load torque,and each PMSM is linear with the rotation and torque of relavant
ϑm is the motor rotator mechanical angle. The relationship joint. Therefore, the trajectory tracking dynamic response

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B. Wang et al.: RCSMC for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances

FIGURE 1. Architecture diagram of vector control strategy.

and disturbances rejection ability of the manipulator can be actual electromechanical system, these disturbances could
improved by optimizing the PMSMs performance. satisfy the following conditions [31], [32]: the disturbances
themselves and their finite order derivatives are uniformly
III. RCSMC DESIGN AND STABILITY PROOF bounded, as shown below
The general control architecture of the PMSM trajectory 
 ωm = giqref + h(t)
0
tracking system is shown in Figure 2. A cascaded architec-


 0
ture, which includes a trajectory generator, a position con-


 h i (t) = hi+1

trol loop (PI controller), a velocity control loop (RCSMC  lim h0 (t) = 0

t→∞ (13)
controller), two current control loops (PI controller), and a  |h(t)| ≤H
general plant, is employed. The general plant consists of


H >0


the PMSM, CLARK transformation module, PARK trans-



 i = 0, 1, · · · , p − 1

formation module, inverse PARK transformation module,
intelligent power module (IPM), space vector pulse width
where p is a positive integer.
modulation (SVPWM) system, reducer, load, encoder, Hall
The main idea of the extended state observer technology
sensors, 6 − 1 ADC modules, etc. In this paper three normal
is described as follows. Firstly, all kinds of time-varying
PI controllers are used in the position control loop and two
uncertain disturbances can be consolidated into a lumped
current control loops. The main goal of this paper is to design
disturbance. Then the lumped disturbance is defined as a
a RCSMC method to stabilize the velocity errors.
new extended state of the system. Finally, the extended state
observer is designed to estimate the whole states of the
A. EXTENDED STATE OBSERVER DESIGN
system. The order of the observer is equal to the order of
From the equation (9), the PMSM dynamics can be rewritten the extended system, which is one order higher than the
as original system. The estimation of the lumped disturbance
pm ψf Bωm TL is then used by the feed-forward compensation to improve
ωm 0 = iq − −
JL J JL the performance of the control algorithm. In the practical
pm ψf Bωm TL PMSM system, the disturbances themselves and their finite
= iqref − −
JL J JL order derivatives are uniformly bounded. Therefore, the dis-
pm ψf turbances could be estimated by ESO.
− (iqref − iq )
JL Define h(t) as the new extended state, and let x1 = ωm ,
= giqref + h(t) (12) x2 = h(t), v(t) = h0 (t), then the equation (12) can be rewritten
p ψ p ψ
as
where g = mJL f , h(t) = − TJLL − Bω m m f
JL − JL (iqref − iq ).
(
The term h(t) represents the time-varying uncertain dis- x 0 1 = x2 + giqref
(14)
turbances, which can be divided into three types. The first x 0 2 = v(t)
type is external disturbances, including load sudden change
Design the extended state observer as equation (15) for
and noise disturbances. The second type are parameter uncer-
system (14)
tainty, for an example, the viscous friction coefficient B is (
uncertainty in practical. The third type is parameter perturba- z0 1 = z2 − λ2 (z1 − x1 ) + giqref
tion. For an example, the armature winding resistance param- (15)
z0 2 = −λ1 (z1 − x1 )
eter rs can be perturbed when the running PMSM temperature
changes. The system is needed to design a robust controller where z1 and z2 are the estimates of x1 and x1 , respectively.
when the parameter uncertainty or perturbation exist. In the λ1 and λ2 are the parameters of the extended state observer.

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FIGURE 2. General control architecture of the PMSM trajectory tracking system.

From equation (15), the dynamic estimation error system In order to estimate the states of system (18), the extended
can be obtained as state observer can be designed as

 z i = zi+1 − λn−i+2 (z1 − x1 )
 0
 e1 = x1 − z1 
zn = zn+1 + ζ u − λ2 (z1 − x1 )


e = x − z
2 2 2
(21)
(16)  0

z n+1 = −λ1 (z1 − x1 )


 e 1 = e2 − λ2 e1
0

e 2 = υ(t) − λ1 e1 where z1 , z2 , · · · , zn+1 are the estimates of x1 , x2 , · · · , xn+1 .

 0
λ1 , λ2 , · · · , λn+1 are the parameters of the observer. From
The selection of λ1 and λ2 should satisfy the condition equation (20) and (21), the dynamic estimation error system
that the roots of the characteristic polynomial (17) are all can be obtained as
in the left side of the complex plane and far away from the 
imaginary axis.  ei = xi − zi

e0 i = ei+1 − λn−i+2 e1 (22)
pc (s) = s2 + λ2 s + λ1 e n+1 = υ(t) − λ1 e1
 0

(17)
When the selection of λ1 , λ2 , · · · , λn+1 satisfies the con-
According to the below Lemma 1, the states of the closed
dition that the roots of the characteristic polynomial of the
loop system (16) would asymptotically converge to zero.
following equation
In other words, lim v(t) = 0, z1 (t) → ωm (t), z2 (t) → h(t).
t→∞
Lemma 1: Consider the system pc (s) = sn+1 + λn+1 sn + · · · + λ2 s + λ1 (23)
 are all in the left side of the complex plane and far
 x i = xi+1 , x = 1, 2, · · · , n − 1
0
away from the imaginary axis, the system (22) is bounded-

x 0 n = f (x1 , x2 , · · · , xn , ξ (t), t) + ζ u (18) input bounded-output (BIBO) stability [33]. In other words,
lim υ(t) = 0, e1 (t) → 0, e2 (t) → 0, · · · , en+1 (t) → 0.

y = x1

t→∞
Lemma 1 end.
where x1 , x2 , · · · , xn are the system states, u is the con- According to the above design procedure, the clear details
trol input, y is the control output, ξ (t) is the disturbance, of the extended state observer (ESO) is obtained.
ζ is the system parameter, f (x1 , x2 , · · · , xn , ξ (t), t) is the
uncertain function. f 0 (x1 , x2 , · · · , xn , ξ (t), t) is bounded and B. TCSMC DESIGN AND STABILITY PROOF
lim f 0 (t) = 0.
t→∞ Let ωc represent the feedback velocity of the PMSM ωm in
Define a new extended state as equation (12), ωr represent the reference velocity. Then the
velocity tracking error can be calculated as
xn+1 = f (x1 , x2 , · · · , xn , ξ (t), t) (19) (
e = ωr − ωm
Then the extended state system can be obtained as (24)
e0 = ω0 r − giqref − h(t)

x i = xi+1 , x = 1, 2, · · · , n − 1 The sliding mode surface of TCSMC is designed as

 0


n+1 + ζ u ς = c0 sgn(e)|e|α + e0
 x0 = x

n (25)
(20)
 x n+1 = υ(t)
0


 The TCSMC algorithm is designed as
y = x1 Z t
1 0 α
iqref = (ω r + c0 sgn(e)|e| + c1 sgn(ς)dτ ) (26)
where υ(t) = f 0 (x1 , x2 , · · · , xn , ξ (t), t). g 0

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B. Wang et al.: RCSMC for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances

FIGURE 3. the block diagram of the TCSMC scheme.

where c0 > 0, c1 > 0, α ∈ (0, 1) and sgn() is the standard ≤ −(c1 − kh ) |ς |

sign function. √ 1
= −(c1 − kh ) 2V 2 (31)
Assumption 1: Assume the derivative of h(t) is bounded
and there exists a positive constant kh > 0, such that The inequality (31) shows that if c1 > kh , the velocity
trajectory tracking error would reach the TCSMC sliding
h (t) ≤ kh , ∀t ≥ 0
 0 
(27) surface ς = c0 sgn(e)|e|α + e0 = 0 in a finite time tr . And
where h(t) are the general disturbances of the system (12). then, the velocity error would converge to zero along the
In PMSM system, the disturbances include load sud- sliding surface due to c0 > 0 in a finite time ts , which can
den change, noise disturbances, viscous friction, resistance be calculated as equation (32)
parameter perturbation, inductance parameter perturbation, |e(tr )|1−α
etc. These disturbances are bounded. The change speed of ts = tr + (32)
c0 (1 − α)
these disturbances are also slow. Therefore, in practical engi-
where tr is the time from s(0) 6= 0 to s(0) = 0. In other
neering, the assumption 1 is reasonable.
words, the velocity error would converge to zero in finite
Theorem 1: Assume the system (12) satisfies the condition
time. Theorem 1 is proved.
as equation (27). Under the control method (26), the velocity
According to the above design procedure, the clear details
error of the system would converge to zero in finite time if
of the terminal continuous sliding mode controller (TCSMC)
c1 > kh .
is obtained. And the block diagram of the TCSMC scheme is
Proof: According to equation (24), the terminal sliding
shown in Figure 3.
surface (25) can be rewritten as
ς = c0 sgn(e)|e|α + e0 C. RCSMC DESIGN AND STABILITY PROOF
= c0 sgn(e)|e|α + ω0 r − giqref − h(t) (28) The robust sliding mode control algorithm is composed of
the terminal continuous sliding mode controller as equation
By substituting control method (26) into equation (28), (26) and the extended state observer as equation (15). For
we have system (12), the robust sliding mode control algorithm for
the velocity loop can be designed as equation (33)
ς = c0 sgn(e)|e|α + ω0 r Z t
Z t 1 0 α
α iqref = (ω r + c0 sgn(e)|e| + c1 sgn(ς)dτ − z2 ) (33)
−c0 sgn(e)|e| − c1 sgn(ς)dτ − h(t) (29) g 0
0
with the corresponding sliding mode surface as equation (34)
Consider the Lyapunov function
1 2 ς = c0 sgn(e)|e|α + e0 (34)
V = ς (30)
2 where c0 > 0, c1 > 0, α ∈ (0, 1) and sgn() is the
By taking the derivative of the Lyapunov function, we have standard sign function.z2 is a newly added feed-forward ESO
compensation item in addition to the CTSMC feedback part
V0 = ςς 0 as equation (26).
= −c1 ςsgn(ς) − ς h0 (t) In the proposed RCSMC algorithm, many control parame-
= −c1 |ς| − h0 (t)ς ters are used. Therefore, the control values are need to select
carefully. In this study, the control values selected method
−c1 |ς| + h0 (t) |ς |
 
≤
 0  is as follows: firstly, c0 and alpha are selected to ensure the
= −(c1 − h (t)) |ς | stability and rapidity of the controller. Then, c1 are selected to

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eliminate the steady state error. Finally, lamda1 and lamda2

are selected to improve estimation accuracy of ESO.
Define the disturbances estimation error eh (t) = h(t) − z2 ,
then e0h (t) = h0 (t) − z02 .
Assumption 2: Assume e0h is bounded and there exits a
positive constant keh > 0, such that
e (t) ≤ ke , ∀t ≥ 0
 0 
h h (35)
In PMSM system, the estimation error itself and its deriva-
tive are both bounded. Therefore, in practical engineering, the FIGURE 4. the block diagram of the RCSMC scheme.
assumption 2 is reasonable.
Theorem 2: Assume the system (12) satisfies the condition
as equation (35). Under the RCSMC control algorithm (33) Note 1: The condition that the control gain c1 is larger than
and (34), if c1 > keh , the velocity error of the PMSM keh is necessary for the RCSMC algorithm.However, as the
trajectory tracking system would converge to zero in a finite disturbances are estimated by the extended state observer
time. in real time, the gain of RCSMC algorithm can be selected
Proof: According to the system (24), the sliding surface smaller than the traditional TCSMC method. And the velocity
in equation (34) can be rewritten as steady state fluctuation can be reduced without affecting the
ς = c0 sgn(e)|e|α + e0 disturbance rejection capability.
Note 2: It can be seen from the RCSMC algorithm (26)
= c0 sgn(e)|e|α + ω0 r − giqref − h(t) that the high frequency switching function ς(t) is designed
Z t
to be hidden in the higher order derivative of the sliding
= −c1 sgn(ς)dτ + z2 − h(t)
mode variable. Therefore, even the high frequency switching
Z0 t function ς (t) exists, the controlled value iqref still remains
= −c1 sgn(ς)dτ − eh (t) (36) continuous and the chattering phenomenon caused by the
0
high frequency switching function could be reduced.
By taking the derivative of the sliding surface, we have
Note 3: When the parameter uncertainty or perturbation
ς 0 = −c1 sgn(ς) − e0h (t) (37) exists in a system, the controller must have a well robust prop-
erty. From the equation (39), the RCSMC is always stable
Consider the Lyapunov function no whether the disturbances h(t) are external load sudden,
1 2 noise, parameter uncertainty or perturbation. Therefore, the
V = ς (38)
2 conclusion can be drawn that the RCSMC method is robust.
By taking the derivative of the Lyapunov function, we have Note 4: In the proposed RCSMC, the sliding surface needs
the derivative of velocity error, which can’t be measured
V0 = ςς 0 directly. The traditional calculation method of taking differ-
= −c1 ςsgn(ς) − ς e0 h (t) entiation for velocity error could introduce noise. However,
= −c1 |ς | − e0 h (t)ς the control method are only need to know the sign of the slid-
ing surface. And one effective way to obtain the derivative of
−c1 |ς | + e0 h (t) |ς |
 
≤
velocity error is to increase the velocity sampling frequency
−(c1 − e0 h (t)) |ς |
 
= of the system and adopt the moving average method to avoid
≤ −(c1 − keh ) |ς | noise.
√ 1
= −(c1 − keh ) 2V 2 (39)
D. RCSMC ROBUST ANALYSIS
The inequality (39) shows that if c1 > keh , the velocity In order to analysis the robust property of the RCSMC
trajectory tracking error would reach the RCSMC sliding algorithm, the detail effect of parameter uncertainty on the
surface ς = c0 sgn(e)|e|α + e0 = 0 in a finite time tr . And dynamic response of proposed control scheme are further
then, the velocity error would converge to zero along the studied in this paper. F̃ is used to present parameter uncer-
sliding surface due to c0 > 0 in a finite time ts , which can tainty in the PMSM dynamic system. Therefore, the equation
be calculated as equation (40) (12) can be rewritten as
|e(tr )|1−α
ts = tr + (40) ωm 0 = giqref + F̃ (41)
c0 (1 − α)
According to the above design procedure, the clear details The RCSMC control method is
of the robust continuous sliding mode controller (RCSMC) is
1 0
Z t
obtained. And the block diagram of the RCSMC scheme is iqref = (ω r + c0 sgn(e)|e|α + c1 sgn(ς)dτ − z2 ) (42)
shown in Figure 4. g 0

196624 VOLUME 8, 2020

B. Wang et al.: RCSMC for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances

with the sliding mode surface as TABLE 1. Simulation PMSM specification.

ς = c0 sgn(e)|e|α + e0 (43)

where c0 > 0, c1 > 0, α ∈ (0, 1) and sgn() is the

standard sign function.z2 is the newly added feed-forward
ESO compensation item.
Suppose F̃ is unknown and time-varying bounded, |F̃| =
|F̃c | + |F̃v |, |F̃v | < ρ1 , ρ1 > 0, |F̃ 0 | = |F̃c0 | + |F̃v0 | = |F̃v0 |
< ρ2 , ρ2 > 0. F̃c is the unknown constant bounded part, and
F̃v is the unknown time-varying bounded part, respectively.
Define the disturbances estimation error eF̃ (t) = |F̃(t)| − z2 ,
then e0 (t) = F̃ 0 (t) − z02 = |F̃v0 |-z02 . e0 (t)< keF̃ , ∀ t > 0.
F̃ F̃
And then, the sliding surface in equation (43) can be rewrit-
ten as

ς = c0 sgn(e)|e|α + e0
= c0 sgn(e)|e|α + ω0 r − giqref − F̃(t)
Z t
= −c1 sgn(ς)dτ + z2 − F̃(t)
0
Z t
= −c1 sgn(ς)dτ − eF̃ (t) (44)
0

By taking the derivative of the sliding surface, we have method as shown in equation (49) are introduced to compare
ς =
0
−c1 sgn(ς) − e0F̃ (t) (45) with the RCSMC method.
Z t
1 0
Consider the Lyapunov function iqref = (ωr + c2 e + c3 sgn(ς)dτ ) (48)
g
Z0 t
1 2 1
V = ς (46) iqref = (ωr0 + c4 e + c5 edτ ) (49)
2 g 0
By taking the derivative of the Lyapunov function, we have The control gain c0 and c1 of RCSMC as shown in equation
(33) are selected to be 150000 and 15000, respectively. The
V0 = ςς 0
control gain c2 and c3 of CSMC as shown in equation (48) are
= −c1 ς sgn(ς) − ς e0 F̃ (t) selected to be 300000 and 30000, respectively. The control
= −c1 |ς | − e0 F̃ (t)ς gain c4 and c5 of PI as shown in equation (49) are selected
−c1 |ς | + e0 F̃ (t) |ς| to be 300000 and 30000, respectively. The parameters of
 
≤
the extended state observer λ1 and λ2 as shown in equation
−(c1 − e0 F̃ (t)) |ς |

=
≤ −(c1 − keF̃ ) |ς |
√ 1
= −(c1 − keF̃ ) 2V 2
The inequality (47) shows that if c1 > keF̃ , the velocity
trajectory tracking error would reach the RCSMC sliding
surface ς = c0 sgn(e)|e|α +e0 = 0 in a finite time tr . And then,
the velocity error would converge to zero along the sliding
surface due to c0 > 0 in a finite time.
Therefore, the RCSMC method is robustly asymptotically
stable when the system exits the unknown and time-varying
bounded parameters.
IV. SIMULATION VERIFICATION
In order to verify the performance of the proposed RCSMC
algorithm, simulations have been conducted under the Matlab
(R2017a) realtime workshop. The nominal PMSM param-
eters in simulation are listed in table 1. A CSMC control
method as shown in equation (48) and a traditional PI control
VOLUME 8, 2020
(15) are selected to be 40000 and 4000, respectively. The
proportional gain and the integral gain of the current loop PI
(47) controller are selected to be 200000 and 25000, respectively.
The saturation current is 9.7 A.
The upper figure and lower figure in Figure 5 show the
comparing results of the velocity response and the current
response, respectively. With the algorithm of the RCSMC, the
system overshot is 1.8 %, the settling time is 0.003 second.
With the algorithm of the CSMC, the system overshot is
3.4 %, the settling time is 0.006 second. With the algorithm
of the PI, the system overshot is 5.5 %, the settling time is
0.008 second. The overshot of the system with the RCSMC
algorithm is 47.1 % less than that with the CSMC algorithm,
and 67.3 % less than that with the PI algorithm. The settling
time of the system with the RCSMC algorithm is 50 % less
than that with CSMC algorithm, and 62.5 % less than that
with the PI algorithm. Therefore, the response of the RCSMC
algorithm converge faster than that of the CSMC and PI
algorithm.
196625
 B. Wang et al.: RCSMC for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances
FIGURE 5. Dynamic responses of the PMSM trajectory tracking system.
FIGURE 6. Disturbance rejection of the PMSM trajectory tracking system.
Simulations on the disturbance rejection performance are
also conducted by applying a sudden load disturbance to
the system. The upper figure and lower figure in Figure 6
shows the velocity drop performance and the current variation
performance, respectively. The sudden load torque is 1.2NM
and the action moment is 0.0125 second. With the algorithm
of the RCSMC, the moment of the system re-stabilization is
0.0134 second, the max velocity decrease is 8 rpm, the fluc-
tuation velocity is 6 rpm. With the algorithm of the CSMC,
the moment of the system re-stabilization is 0.0138 second,
the max velocity decrease is 15 rpm, the fluctuation velocity
is 9 rpm. With the algorithm of the CSMC, the moment of
the system re-stabilization is 0.0175 second, the max velocity
decrease is 27 rpm, the fluctuation velocity is 11 rpm. Obvi-
ously, the RCSMC algorithm has better disturbance rejection
capability than CSMC and PI algorithm.
Simulations on the noise disturbance rejection perfor-
mance are taken into account by adding the band limited
white noise to the feedback velocity value. This kind of noise
196626
FIGURE 7. Disturbance rejection of Noise.
often exists in the actual system. The upper figure and lower
figure in Figure 7 show the velocity and current performance,
respectively. With the algorithm of the RCSMC, the system
max velocity tracking error is 21 rpm, and the standard veloc-
ity tracking error is 16 rpm. With the algorithm of the CSMC,
the system max velocity tracking error is 37 rpm, and the
standard velocity tracking error is 22 rpm. With the algorithm
of the PI, the system max velocity tracking error is 56 rpm,
and the standard velocity tracking error is 34 rpm. Therefore,
the conclusion could be drawn that the RCSMC method has
the stronger capability against noise disturbances than CSMC
method and PI method.
From the above simulation results, we can know that the
main control effectiveness of the RCSMC algorithm are better
than the CSMC method and PI method. Meanwhile, it is
also not difficult to draw the conclusion that the RCSMC
algorithm is more complex than these traditional methods.
The more computation is needed when the control method is
more complex, which would affect the real-time performance
of the control system. In other words, the implementation
of RCSMC is much more complicated than CSMC and
PI. Therefore, a new high performance hardware and soft-
ware architecture is designed to promote the computational
capability of the controller. In the traditional commercial
servo driver system, DSP is adopted as the main chip,
which would be used to serially complete all the calcula-
tions related to the control method, including position loop
controller, velocity loop controller, current loop controller,
CLARK transformation module, PARK transformation mod-
ule, inverse PARK transformation module, SVPWM, position
signal acquisition and filtering processing, velocity signal
acquisition and filtering processing, current signal acquisition
and filtering processing, etc. In this paper, the chip-set of
1-F28M35H52C1-ARM/DSP and 2-EP2C20-FPGA is
adopted as the architecture of the integrated controller. The
DSP core is only used to complete the calculation of the
position loop PI controller and the velocity loop RCSMC
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B. Wang et al.: RCSMC for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances
TABLE 2. The manipulator specification.
FIGURE 8. 6-DOF manipulator experimental platform.
controller. The other calculations are completed in parallel
in the FPGA chip. Therefore, the real-time performance of
RCSMC could be perfect by using this software and hardware
architecture.
V. EXPERIMENTAL RESULTS WITH APPLICATION TO A
6-DOF MANIPULATOR
In order to further test the validity and feasibility of the
proposed RCSMC algorithm in real situation, experiment
with a 6-DOF manipulator has been carried out. As shown
in Figure 8, the experimental platform consists of the 6-DOF
manipulator body, 6 PMSMs and the integrated control
system. The PMSMs are amounted on the joints of the manip-
ulator. The integrated control system, including a core com-
putation subsystem and a set of 6-in-1 servo driver system,
is installed in the electric cabinet.
The manipulator specification and the nominal parameters
of the PMSMs are shown in Table 2 and Table 3, respectively.
The chip-set of 1-F28M35H52C1-ARM/DSP and
2-EP2C20-FPGA is adopted as the architecture of the
integrated controller, which is shown in Figure 9. The
F28M35H52C1-ARM/DSP comprises two subsystems [34]:
the ARM master subsystem and the DSP control subsystem.
While the master and control subsystem each have dedicated
local memories and peripherals, they can also share data
and events through shared memories and peripherals.The
maximum main frequency at which the the ARM master
VOLUME 8, 2020
FIGURE 9. The manipulator controller architecture.
subsystem can run is 100 MHZ, and the maximum main
frequency at which the the DSP control subsystem can run
is 150 MHZ. These features guarantee the stable operation
of the 6 PMSMs velocity loops RCSMC algorithm and the
other necessary functions. The EP2C20-FPGA device offers
the following features [35]: up to 260 MHZ operation main
frequency, high-density architecture with 4608 to 68416 LEs,
150 18-bit×18-bit multipliers with up to 250 MHZ frequency.
These performance ensure the running of the 6 PMSMs
current loops and the other relative functions in parallel, more
effectively and more efficiently.
Based on the above control architecture, the hardware of
the PMSM servo system is designed as Figure 10, including
the main circuit, ARM/DSP minimum system, FPGA 1 min-
imum system, FPGA 2 minimum system, IPM interface,
current detect module, high voltage control interface, iso-
lated GPIO, isolated RS485, isolated encoder interface, SD,
DRAM, communication interface, etc.
The system software related to the RCSMC algorithm con-
sists of the DSP part and FPGA part. The DSP software pro-
gram is compiled with C language in Code Composer Studio
(CCS 5.5). And the FPGA program is designed with VHDL
language in QUARTUS II. The DSP software is used to
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 B. Wang et al.: RCSMC for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances
TABLE 3. The nominal parameters of the PMSMs.
FIGURE 10. The system hardware design block diagram.
complete the calculation the core computation of the position
loop PI controller and the velocity loop RCSMC controller.
The other calculations are completed in parallel in the FPGA
chip, including current loop controller, CLARK transforma-
tion module, PARK transformation module, inverse PARK
transformation module, SVPWM, position signal acquisi-
tion and filtering processing, velocity signal acquisition and
filtering processing, current signal acquisition and filtering
processing, and so on. The main flowchart of the software
implementation is shown as Figure 11.
The dynamics of the 6 joints of the manipulator are cou-
pled with each other, namely, the dynamics of each joint is
196628
disturbed by other joints. And therefore, the 6-DOF manip-
ulator is an ideal platform to verify the proposed RCSMC
algorithm. In the experiment, the manipulator is set to move
repeatedly along a cuboid, whose vertexes are point A (401,
−8, 951), point B (401, 242, 951), point C (601, 242, 951),
point D (601, −8, 951), point E (401, −8, 751), point F (401,
242, 751), point G (601, 242, 751), and point H (601, −8,
751), respectively. An iron plate weighing 6 kg is mounted on
the manipulator end-effector as a rated load. The performance
measurement includes each joint performance measurement
of the 6-DOF manipulator and the performance measure-
ment of the manipulator end-effector. The actual position and
VOLUME 8, 2020
B. Wang et al.: RCSMC for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances

FIGURE 13. Experiment results for PMSM2.

FIGURE 11. The main flowchart of software implementation.

FIGURE 14. Experiment results for PMSM3.

FIGURE 12. Experiment results for PMSM1.

actual velocity of each joint are obtained from the absolute

encoders amounted on the end of the motors. The reference
position, reference velocity, position error and velocity error FIGURE 15. Experiment results for PMSM4.

of each joint are intermediate variables of the control system.

The reference position and reference velocity of the manip- DRAM, which could be read through the RS485 communica-
ulator end-effector are the output value of the manipulator tion bus. The actual position and actual velocity of the manip-
trajectory planning module. These data are all saved in the ulator end-effector are the obtained by recording through a

VOLUME 8, 2020 196629

 B. Wang et al.: RCSMC for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances
FIGURE 16. Experiment results for PMSM5.
FIGURE 17. Experiment results for PMSM6.
FARO Vantage E6 laser tracker. The position error and veloc-
ity error of the manipulator end-effector are calculated from
the the related actual value and reference value. The reference
position, actual position, position error, reference velocity,
actual velocity, velocity error for each joint are collected and
shown in Figure 12 to Figure 17 (in these Figures, AP stands
for the actual position, RP the reference position, AV the
actual velocity, RV the reference velocity). The reference
position, actual position, position error, reference velocity,
actual velocity and velocity error for the manipulator end-
effector are shown in Figure 18. As can be seen from the
tracking curves in Figure 12 to Figure 17, the max trajectory
tracking position errors (absolute value) of PMSMs amounted
on J1 to J6 are 0.49 degrees, 0.11 degrees, 0.16 degrees,
0.012 degrees, 0.007 degrees, 0.49 degrees, respectively. The
max trajectory tracking velocity errors (absolute value) of
PMSMs amounted on J1 to J6 are 21 rpm, 11 rpm, 9 rpm,
5 rpm, 9 rpm, 19 rpm, respectively. As can be seen from
the tracking curves in Figure 18, the max trajectory tracking
position error and the standard position error of manipulator
196630
FIGURE 18. Experiment results for the Manipulator end-effector.
end-effector are 0.11 mm and 0.04 mm, respectively. These
performance are better than the majority commercial similar
manipulators, such as ABB IRB 1600 manipulator, whose
max trajectory tracking error and standard position error are
0.19 mm and 0.06 mm [36]. Therefore, the proposed RCSMC
algorithm shows excellent performance in terms of supe-
rior dynamic position tracking characteristics, extraordinary
velocity response, excellent disturbance rejection capability
and remarkable robustness. It is worth noting that in Figure 15
and Figure 16, the position error and the velocity error are
very small. The reason is because the reference trajectories
are smoother than the others. Meanwhile, it can be observed
that the comparatively larger errors often appear when a sud-
den change of velocity occurs due to the manipulator inertia.
VI. CONCLUSION
A RCSMC algorithm is proposed for manipulator PMSM
trajectory tracking system under time-varying uncertain dis-
turbances. This method has the capability to reduce the
chattering phenomenon and enhance the disturbance rejec-
tion. The extended state observer is employed in RCSMC
to estimate the disturbances for compensating the veloc-
ity tracking error and reducing the control gain to avoid
steady-state velocity fluctuation. The stability of the RCSMC
algorithm is guaranteed by the Lyapunov stability criteria.
Simulations have been conducted to verify the performance
of the proposed RCSMC algorithm. Finally, the simulation
and experimental results verify the effectiveness of the pro-
posed scheme.
VII. FUTURE RECOMMENDATION
It should be noted that the aspects such as manipulator mech-
anism parameter uncertainty and the joint flexibility are not
dealt with in this article. Therefore, in the future the vision
servo technology would be researched to design controller
for manipulator trajectory tracking system under mecha-
nism parameters uncertain disturbances. And the trajectory
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B. Wang et al.: RCSMC for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances
tracking problem of flexible-joint systems under time-
varying disturbances would be studied.
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BAOLEI WANG (Member, IEEE) was born in
Weifang, Shandong, China, in 1986. He received
the B.S. degree from Shandong Agriculture Uni-
versity, in 2010, and the M.S. degree from the Uni-
versity of Shanghai for Science and Technology,
in 2013. He is currently pursuing the Ph.D. degree
with the Ningbo Institute of Materials Technology
and Engineering, Chinese Academy of Sciences.
Since 2013, he has been an Engineer with the
Robot Control Research Institute, WILDSC. He is
the author of 12 articles and 21 patents. His research interests include
manipulator control, motion control, mobile robot, computer vision, vision
servo, system integration, and industrial internet.
196631
 B. Wang et al.: RCSMC for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances
CHI ZHANG (Senior Member, IEEE) received
the B.E. and M.E. degrees from Xian Jiaotong
University, Xian, Shanxi, China, in 1999 and 2002,
respectively, and the Ph.D. degree from Nanyang
Technological University, Singapore, in 2007.
Since 2012, he has been with the Ningbo Institute
of Materials Technology and Engineering, Chinese
Academy of Sciences. He is currently a Professor
and the Vice Director of the Zhejiang Key Labo-
ratory of Robotics and Intelligent Manufacturing
Equipment Technology. He is also the Principle Investigator (PI) of the Pre-
cision Control and Advance Robotics Research Team. His current research
interests include motor design and precision motion control.
QINGWEI JIA (Senior Member, IEEE) received
the B.S. and M.S. degrees from Tsinghua Uni-
versity, and the Ph.D. degree from the National
University of Singapore, Singapore, in 1999.
From 2005 to 2010, he worked as the Chief
Senior Engineer with the Hitachi’s Asian Research
and Development Center. From 2010 to 2012,
he worked as the Chief Technology Officer with
the WD Asian Advantage Technology Develop-
ment Center. Since 2013, he has been the Founder
and the Chairman of WILDSC. He is the author of more than one book,
120 articles, and 70 patents. His research interests include manipulator
design, advantage motion control, social robot, advanced robot, ROV, RAV,
automation, system integration, and embedded system design.
196632
XIANGJUN LIU received the Ph.D. degree from
the Data Storage Institute, Nanyang Technolog-
ical University, Singapore, in 2009. He is cur-
rently a Research Professor with the College
of Mechanical Engineering and the Director of
the Institute of Micro/Nano Electromechanical
System, Donghua University (DHU). Prior to
joining DHU, he worked as a Researcher with
the Hitachi Research and Development Center
from 2009 to 2010, a Postdoctoral Research Fel-
low with the National Institute for Nanotechnology, University of Alberta,
Canada, from 2010 to 2012, and a Scientist with the Institute of High
Performance Computing, A*STAR, Singapore, from 2012 to 2019.
GUILIN YANG received the B.E. and M.E.
degrees from Jilin University, Changchun, Jilin,
China, in 1985 and 1988, respectively, and the
Ph.D. degree from Nanyang Technological Uni-
versity, in 1999, all in mechanical engineer-
ing. From 1998 to 2013, he was with the
Singapore Institute of Manufacturing Technology
(SIMTech), Singapore, as a Senior Scientist and
the Manager of the Mechatronics Group. Since
2013, he has been with the Ningbo Institute of
Materials Technology and Engineering, Chinese Academy of Sciences. He is
currently a Professor, the Deputy President of the Institute, and the Director
of the Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing
Equipment Technology. His research interests include broad area of robotics
and automation, such as precision electromagnetic actuators, compliant
mechanisms, parallel-kinematics machines, cable-driven robots, modular
robots, and robotic automation systems. He has published over 270 technical
articles in referred journals and conference proceedings, authored three
books, and filed 50 patents. He was a recipient of research and develop-
ment 100 awards in 2014.
VOLUME 8, 2020