Sliding Mode Control for Nonlinear Manipulator Systems

被引：12

作者：

Zhang, Beibei ^{[1
]}

Yang, Xiao ^{[2
]}

Zhao, Dongya ^{[1
]}

Spurgeon, Sarah K. ^{[3
]}

Yan, Xinggang ^{[4
]}

机构：

[1] China Univ Petr, Coll Chem Engn, Qingdao 266580, Peoples R China

[2] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China

[3] UCL, Dept Elect & Elect Engn, Torrington Pl, London WC1E 7JE, England

[4] Univ Kent, Sch Engn & Digital Arts, Canterbury, Kent, England

来源：

IFAC PAPERSONLINE | 2017年 / 50卷 / 01期

基金：

中国国家自然科学基金;

关键词：

nonlinear sliding mode; manipulator system; tracking error; exponential reaching law; robustness; residual set; COMPOSITE ADAPTIVE-CONTROL;

D O I：

10.1016/j.ifacol.2017.08.781

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A sliding mode control is developed for nonlinear manipulator systems. An improved version of the exponential reaching law is presented to ensure the states converge to the sliding surface in finite time. In the presence of system uncertainty and external disturbances, the system states converge to a small region centered at the origin within a finite time and thereafter will asymptotically converge to the equilibrium point. The robustness and convergence properties of the proposed approach are demonstrated from both the theoretical point of view and also using simulation studies. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：5127 / 5132

页数：6

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