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Adaptive second-order fast nonsingular terminal sliding mode control for robotic manipulators.

Authors
  • Yi, Shanchao1
  • Zhai, Junyong2
  • 1 Key Laboratory of Measurement and Control of CSE, Ministry of Education, School of Automation, Southeast University, Nanjing, Jiangsu 210096, China. , (China)
  • 2 Key Laboratory of Measurement and Control of CSE, Ministry of Education, School of Automation, Southeast University, Nanjing, Jiangsu 210096, China. Electronic address: [email protected] , (China)
Type
Published Article
Journal
ISA transactions
Publication Date
Jul 01, 2019
Volume
90
Pages
41–51
Identifiers
DOI: 10.1016/j.isatra.2018.12.046
PMID: 30777314
Source
Medline
Keywords
Language
English
License
Unknown

Abstract

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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