A Novel Non-Singular Terminal Sliding Mode Trajectory Tracking Control for Robotic Manipulators

被引：110

作者：

Zhai, Junyong ^{[1
]}

Xu, Gui ^{[1
]}

机构：

[1] Southeast Univ, Sch Automat, Nanjing 210096, Peoples R China

来源：

IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS | 2021年 / 68卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Robotic manipulators; trajectory tracking; finite time control; non-singular terminal sliding mode; FINITE-TIME CONTROL; MOTION CONTROL; SYSTEMS; DESIGN;

D O I：

10.1109/TCSII.2020.2999937

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This brief investigates the trajectory tracking problem of n-link robotic manipulators with internal uncertainties and external disturbances. At first, a novel non-singular terminal sliding mode surface is proposed which contains arctan function (ATNTSM). Then, a robust ATNTSM control law is designed to ensure that the system states globally converges to origin in finite time. Moreover, the sign function is replaced by saturation function in the control law, thus the actual control law becomes continuous and the chattering phenomenon can be completely eliminated. In the end, a two-link robotic manipulators as an example is provided to illustrate the effectiveness of the proposed scheme.

引用

页码：391 / 395

页数：5

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