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Non-singular terminal sliding mode control of rigid manipulators

Authors
  • Feng, Yong
  • Yu, Xinghuo
  • Man, Zhihong
Type
Published Article
Journal
Automatica
Publisher
Elsevier
Publication Date
Jan 01, 2002
Accepted Date
Jul 09, 2002
Volume
38
Issue
12
Pages
2159–2167
Identifiers
DOI: 10.1016/S0005-1098(02)00147-4
Source
Elsevier
Keywords
License
Unknown

Abstract

This paper presents a global non-singular terminal sliding mode controller for rigid manipulators. A new terminal sliding mode manifold is first proposed for the second-order system to enable the elimination of the singularity problem associated with conventional terminal sliding mode control. The time taken to reach the equilibrium point from any initial state is guaranteed to be finite time. The proposed terminal sliding mode controller is then applied to the control of n-link rigid manipulators. Simulation results are presented to validate the analysis.

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