Adaptive second-order fast nonsingular terminal sliding mode control for robotic manipulators.
Key Laboratory of Measurement and Control of CSE, Ministry of Education, School of Automation, Southeast University, Nanjing, Jiangsu 210096, China.
Key Laboratory of Measurement and Control of CSE, Ministry of Education, School of Automation, Southeast University, Nanjing, Jiangsu 210096, China. Electronic address: [email protected]
- Published Article
- Publication Date
Jul 01, 2019
This paper presents an adaptive chattering-free sliding mode controller for trajectory tracking of robotic manipulators in the presence of external disturbances and inertia uncertainties. To achieve fast convergence and desirable tracking precision, a second-order fast nonsingular terminal sliding mode (SOFNTSM) controller is designed to guarantee system performance and robust stability. Chattering is eliminated using continuous control law due to high-frequency switching terms contained in the first derivative of actual control signals. Meanwhile, uncertainties are compensated by introducing the adaptive technique, whose prior knowledge about upper bound is not required. Finally, simulation results validate the effectiveness of the proposed control scheme. Copyright © 2019 ISA. Published by Elsevier Ltd. All rights reserved.
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The corresponding record at NLM can be accessed at https://www.ncbi.nlm.nih.gov/pubmed/30777314