Fast terminal sliding mode tracking control of nonlinear uncertain mass-spring system with experimental verifications

被引：43

作者：

Amirkhani, Saeed ^{[1
]}

Mobayen, Saleh ^{[2
]}

Iliaee, Nahal ^{[2
]}

Boubaker, Olfa ^{[3
]}

Hosseinnia, S. Hassan ^{[4
]}

机构：

[1] Univ Guilan, Dept Mech Engn, Rasht, Iran

[2] Univ Zanjan, Dept Elect Engn, Adv Control Syst Lab, POB 38791-45371, Zanjan, Iran

[3] Univ Carthage, Natl Inst Appl Sci & Technol, Tunis, Tunisia

[4] Delft Univ Technol, Dept Precis & Micro Syst Engn, Delft, Netherlands

来源：

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2019年 / 16卷 / 01期

关键词：

Nonlinear mass-spring system; fast terminal sliding mode; Lyapunov theory; finite time convergence; uncertainties; OUTPUT-FEEDBACK CONTROL; CONTROL DESIGN; MANIPULATORS; ROBOT; ROBUST; STIFFNESS; OBSERVER;

D O I：

10.1177/1729881419828176

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this article, a fast terminal sliding mode control technique is used for robust tracking control of a nonlinear uncertain mass-spring system in the existence of external perturbation. This system is considered as a benchmark problem in the flexible joint mechanisms. The joints flexibility in the robotic systems creates one of the most significant sources of parametric uncertainties. The theory of Lyapunov stability is used for the formulation of the proposed control method, and the presence of the sliding around the switching surface is satisfied in the finite time. Simulation results as well as the experimental verifications prove the efficiency and applicability of the suggested approach in the presence of parametric uncertainty, noise, and exterior disturbance.

引用

页数：10

共 57 条

[1] Vibration suppression for mass-spring-damper systems with a tuned mass damper using interconnection and damping assignment passivity-based control [J].