Motion/force control of a constrained robot using non-singular terminal sliding mode

被引：0
|
作者：
Wang, Z. [1 ]
Cao, Q. [1 ]
Li, S. [1 ]
机构：
[1] College of Information and Control Engineering, China University of Petroleum, Qingdao, China
来源：
Australian Journal of Electrical and Electronics Engineering | 2014年 / 11卷 / 03期
关键词：
Robots - Manipulators - Sliding mode control;
D O I：
10.7158/E13-172.2014.11.3
中图分类号：
学科分类号：
摘要：
In this paper, a hybrid motion/force control strategy is designed for a constrained robotic manipulator using non-singular terminal sliding mode. At first, a reduced motion/force model is obtained according to the coordinate transformation. Then, a non-singular terminal sliding mode is applied to the new dynamic model to make the motion tracking error converge to zero infinite lime while the force tracking error can be reduced to arbitrarily small value. Finally, numerical simulation results for a constrained robot illustrate the expected performance. © Institution of Engineers Australia, 2014.
引用
收藏
页码：303 / 308
相关论文
共 50 条
  • [1] A simple non-singular terminal sliding mode control for uncertain robot manipulators
    Zhang, Liyin
    Su, Yuxin
    Wang, Zeng
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2019, 233 (06) : 666 - 676
  • [2] Non-singular terminal sliding mode control of tunneling robot based on UDE
    Zhang G.
    Shen G.
    Tang Y.
    Li X.
    Meitan Xuebao/Journal of the China Coal Society, 2023, 48 : 790 - 801
  • [3] An Adaptive Terminal Sliding Mode Control for Robot Manipulators With Non-Singular Terminal Sliding Surface Variables
    Anh Tuan Vo
    Kang, Hee-Jun
    IEEE ACCESS, 2019, 7 : 6701 - 6712
  • [4] Non-singular terminal sliding-mode control for a manipulator robot using a barrier Lyapunov function
    Cruz-Ortiz, David
    Chairez, Isaac
    Poznyak, Alexander
    ISA TRANSACTIONS, 2022, 121 : 268 - 283
  • [5] Non-singular terminal sliding mode control of rigid manipulators
    Feng, Y
    Yu, XH
    Man, ZH
    AUTOMATICA, 2002, 38 (12) : 2159 - 2167
  • [6] Robust control by adaptive Non-singular Terminal Sliding Mode
    Asl, Reza Mohammadi
    Hagh, Yashar Shabbouei
    Palm, Rainer
    ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE, 2017, 59 : 205 - 217
  • [7] Non-singular Terminal Sliding Mode Control of Robot Manipulators with H∞ Trajectory Tracking Performance
    Ruchika
    Kumar, Naveen
    Dinanath
    ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING, 2019, 44 (11) : 9057 - 9065
  • [8] Adaptive Non-Singular Fast Terminal Sliding Mode Trajectory Tracking Control for Robot Manipulators
    Yang, Qiyao
    Ma, Xiangfeng
    Wang, Wei
    Peng, Dongliang
    ELECTRONICS, 2022, 11 (22)
  • [9] Non-singular terminal sliding mode heading control of surface vehicles
    Gao, Zhenyu
    Guo, Ge
    Zhang, Bo
    PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017), 2017, : 634 - 638
  • [10] Position control of elevator based on non-singular terminal sliding mode
    Yao, Laipeng
    Hou, Baolin
    Nongye Gongcheng Xuebao/Transactions of the Chinese Society of Agricultural Engineering, 2015, 31 (12): : 77 - 82
12345