TY - GEN
T1 - A novel finite time sliding mode control for robotic manipulators
AU - Zhao, Yao
AU - Sheng, Yongzhi
AU - Liu, Xiangdong
N1 - Publisher Copyright:
© IFAC.
PY - 2014
Y1 - 2014
N2 - A novel robust control law with finite time convergence for rigid robotic manipulators is proposed in this paper. The whole control process is divided into two phases, i.e., the error correction phase and the steady tracking phase. Firstly, a novel time-varying sliding mode control (TVSMC) method is developed in the first phase to ensure the tracking error converge to zero at the desired time. Subsequently, the nonsingular terminal sliding mode control (NTSMC) technique is employed to keep the tracking error maintaining zero during the second phase. The associated control commands are free from singularity and convenient for practical implementation. Besides, the convergence rate can be tuned via appropriate parameter adjustment. By the virtue of global sliding mode, the system is global robust against the external disturbances and parametric uncertainties. Numerical simulations are presented to validate the effectiveness of the proposed control law.
AB - A novel robust control law with finite time convergence for rigid robotic manipulators is proposed in this paper. The whole control process is divided into two phases, i.e., the error correction phase and the steady tracking phase. Firstly, a novel time-varying sliding mode control (TVSMC) method is developed in the first phase to ensure the tracking error converge to zero at the desired time. Subsequently, the nonsingular terminal sliding mode control (NTSMC) technique is employed to keep the tracking error maintaining zero during the second phase. The associated control commands are free from singularity and convenient for practical implementation. Besides, the convergence rate can be tuned via appropriate parameter adjustment. By the virtue of global sliding mode, the system is global robust against the external disturbances and parametric uncertainties. Numerical simulations are presented to validate the effectiveness of the proposed control law.
KW - Finite time
KW - Global robust
KW - Nonsingular terminal sliding mode control (NTSMC)
KW - Robotic manipulators
KW - Time-varying sliding mode control (TVSMC)
UR - http://www.scopus.com/inward/record.url?scp=84929773683&partnerID=8YFLogxK
U2 - 10.3182/20140824-6-za-1003.00135
DO - 10.3182/20140824-6-za-1003.00135
M3 - Conference contribution
AN - SCOPUS:84929773683
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 7336
EP - 7341
BT - 19th IFAC World Congress IFAC 2014, Proceedings
A2 - Boje, Edward
A2 - Xia, Xiaohua
PB - IFAC Secretariat
T2 - 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
Y2 - 24 August 2014 through 29 August 2014
ER -