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
来源：
Australian Journal of Electrical and Electronics Engineering | 2014年 / 11卷 / 03期
关键词：
Constrained robot; Motion/force control; Non-singular terminal 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
页数：5
相关论文
共 50 条
[21]   Robust Non-Singular Terminal Sliding Mode Control for Tendon-driven Hand Exoskeleton: A Numerical Study [J].
Pratap, Subhash ;
Narayan, Jyotindra ;
Hatta, Yoshiyuki ;
Ito, Kazuaki ;
Hazarika, Shyamanta M. .
2024 10TH INTERNATIONAL CONFERENCE ON CONTROL, DECISION AND INFORMATION TECHNOLOGIES, CODIT 2024, 2024, :2425-2430
[22]   Switching control strategy based on non-singular terminal sliding mode for buck converter in auxiliary energy source [J].
Ma, Guangliang ;
Wang, Bin ;
Xu, Dan ;
Zhang, Le .
RENEWABLE ENERGY INTEGRATION WITH MINI/MICROGRID, 2018, 145 :139-144
[23]   Fuzzy Compensation-Based Non-Singular Terminal Sliding Mode Control of Maglev Vehicle Levitation System [J].
Sun, Yougang ;
Zhang, Dandan ;
Ji, Wen ;
Xu, Junqi .
Xinan Jiaotong Daxue Xuebao/Journal of Southwest Jiaotong University, 2025, 60 (04) :803-811
[24]   A Non-Singular Terminal Sliding Mode Control of Buck-Boost Converters Based on Extended State Observer [J].
Chang, Yufang ;
Gao, Peng ;
Wang, Aoli ;
Wang, Yingxiang ;
Zhang, Chuangchuang ;
Huang, Wencong .
2023 IEEE 2ND INDUSTRIAL ELECTRONICS SOCIETY ANNUAL ON-LINE CONFERENCE, ONCON, 2023,
[25]   Adaptive super-twisting non-singular terminal sliding mode control for tracking of quadrotor with bounded disturbances [J].
Ghadiri, Hamid ;
Emami, Maedeh ;
Khodadadi, Hamed .
AEROSPACE SCIENCE AND TECHNOLOGY, 2021, 112
[26]   FLOW TRACKING OF GLUE SYSTEM BASED ON NON-SINGULAR TERMINAL SLIDING MODE ACTIVE DISTURBANCE REJECTION CONTROL [J].
Guo, Jining ;
Cao, Jun ;
Fu, Ying ;
Ma, Zheng ;
Li, Bingyu ;
Liu, Desheng .
INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL, 2020, 16 (05) :1757-1768
[27]   Non-Singular Terminal Sliding Mode Control with Coupling Compensation for High-Speed Maglev Suspension System [J].
Han, Peichen ;
Xu, Junqi ;
Rong, Lijun ;
Liu, Xiang ;
Ni, Fei ;
Sun, Yougang .
2024 10TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTIC, ICCAR 2024, 2024, :247-252
[28]   Comments on "Sliding-mode motion/force control of constrained robots" [J].
Dixon, WE ;
Zergeroglu, E .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2000, 45 (08) :1576-1577
[29]   A novel non-singular terminal sliding mode control-based integrated missile guidance and control with impact angle constraint [J].
Ming, Chao ;
Wang, Xiaoming ;
Sun, Ruisheng .
AEROSPACE SCIENCE AND TECHNOLOGY, 2019, 94
[30]   Finite-time observer-based trajectory tracking control of underactuated USVs using hierarchical non-singular terminal sliding mode [J].
Zhu F. ;
Peng Y. ;
Cheng M. ;
Luo J. ;
Wang Y. .
Cyber-Physical Systems, 2022, 8 (04) :263-285
12345