Global fast terminal sliding mode control for robotic manipulators

被引：33
|
作者：
Yu, Shuanghe [1 ]
Guo, Ge [1 ]
Ma, Zi [1 ]
Du, Jialu [1 ]
机构：
[1] Dalian Maritime Univ, Automat Res Ctr, Dalian 116026, Peoples R China
来源：
INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL | 2006年 / 1卷 / 01期
关键词：
terminal sliding mode; finite-time convergence; chattering-free; robustness;
D O I：
10.1504/IJMIC.2006.008650
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 Global Fast Terminal Sliding Mode Controller (GFTSMC) is proposed for n-link robotic manipulators by employing the Fast Terminal Sliding Mode (FTSM) control concept in both the reaching phase and the sliding phase. Under the control, the system states will reach FTSM in desired finite time and then converge to the origin along the FTSM in specified finite time, resulting in a reduced steady tracking error in comparison with the conventional sliding mode controller. The proposed controller is continuous and therefore chattering-free. An example is presented to demonstrate its effectiveness.
引用
收藏
页码：72 / 79
页数：8
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