A Fast Terminal Sliding Mode Control of Two-link Flexible Manipulators for Trajectory Tracking

被引：0
|
作者：
Si, Yanna [1 ]
Pu, Jiexin [1 ]
Sun, Lifan [1 ]
机构：
[1] Henan Univ Sci & Technol, Informat Engn Coll, Luoyang, Peoples R China
来源：
2017 CHINESE AUTOMATION CONGRESS (CAC) | 2017年
基金：
中国国家自然科学基金;
关键词：
fast terminal sliding mode control; flexible manipulators; trajectory tracking;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the dynamic model of the two-link flexible manipulator with payload is analyzed using Euler-Lagrange equation. And then, a fast nonsingular terminal sliding mode controller is proposed for trajectory tracking problem of the manipulator. The stability of the control system is proved by the Lyapunov theory. Finally, simulation experiments were carried out in MATLAB and the results illustrate that the prosed fast nonsingular terminal sliding mode control method shows good effectiveness and robustness in presence of bounded disturbances.
引用
收藏
页码：6387 / 6391
页数：5
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