Finite-time control of robotic manipulators

被引:178
作者
Galicki, Miroslaw [1 ]
机构
[1] Univ Zielona Gora, Fac Mech Engn, PL-50 Podgorna, Poland
关键词
Robotic manipulator; Trajectory tracking; Finite-time non-linear control; Lyapunov stability; SLIDING-MODE CONTROL; TRACKING CONTROL; CHATTERING-FREE; RIGID ROBOTS; TASK SPACE; SYSTEMS; DIFFERENTIATION; STABILITY;
D O I
10.1016/j.automatica.2014.10.089
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This work offers the solution at the control feed-back level of the accurate trajectory tracking subject to finite-time convergence. Dynamic equations of a rigid robotic manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory. Based on the suitably defined non-singular terminal sliding vector variable and the Lyapunov stability theory, we propose a class of absolutely continuous robust controllers which seem to be effective in counteracting both uncertain dynamics and unbounded disturbances. The numerical simulation results carried out for a robotic manipulator consisting of two revolute kinematic pairs operating in a two-dimensional joint space illustrate performance of the proposed controllers. (C) 2014 Elsevier Ltd. All rights reserved.
引用
收藏
页码:49 / 54
页数:6
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