Soft Sliding Mode Controller Design for a Class of Singular Link Manipulator by Disturbance Compensation

被引：0

作者：

Liu, Yunlong ^{[1
]}

Wang, Juan ^{[1
,2
]}

Dimirovski, Georgi M. ^{[3
]}

Dai, Jiangyan ^{[1
]}

Kao, Yonggui ^{[4
]}

机构：

[1] Weifang Univ, Coll Informat & Control Engn, Weifang 261061, Peoples R China

[2] China Univ Min & Technol, Sch Math, Xuzhou 221116, Peoples R China

[3] Dogus Univ, Fac Engn, TR-34722 Istanbul, Turkey

[4] Harbin Inst Technol Weihai, Dept Math, Weihai 264209, Peoples R China

来源：

PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017) | 2017年

关键词：

link manipulator; singular system; soft sliding mode control; dynamic switching; disturbance compensation; VARIABLE-STRUCTURE CONTROL; MARKOVIAN JUMP SYSTEMS; STOCHASTIC-SYSTEMS; ROBOTIC MANIPULATORS;

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：

Aiming at singular property for a class of link constrained manipulator, the design of soft sliding mode controller is considered by disturbance compensation in this paper. First, a singular system model of a three-link manipulator is established by the constraint equations and the force descriptions. Then, a dynamic switching function is given and a novel discrete singular exponential reaching law with dynamic disturbance compensation is designed. Finally, soft sliding mode controller for three-link constrained manipulator with uncertainties is discussed by the proposed discrete reaching law. Moreover, it can drive the manipulator system to reach the switching band in finite time and remain on the switching plane. The reason of system chattering will be analyzed and the width of the switching band will be decreased by the proposed controller.

引用

页码：3679 / 3684

页数：6

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