Trajectory tracking of robotic manipulators based on fast nonsingular terminal sliding mode

被引：0
|
作者：
Wang W. [1 ,2 ]
Zhao J.-T. [1 ,2 ]
Hu K.-R. [3 ]
Guo Y.-C. [4 ]
机构：
[1] School of Aerospace Engineering, Beijing Institute of Technology, Beijing
[2] Beijing Key Laboratory of UAV Autonomous Control Technology, Beijing Institute of Technology, Beijing
[3] Research and Design Institute, Northwest Industrial Group, Xi'an
[4] Quality Department, Northwest Industrial Group, Xi'an
来源：
Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2020年 / 50卷 / 02期
关键词：
Automatic control technology; Finite-time convergence; Manipulator control; Nonsingularity; Terminal sliding mode control theory;
D O I：
10.13229/j.cnki.jdxbgxb20181083
中图分类号：
学科分类号：
摘要：
To drive the robotic manipulator tracking the desired trajectory, a novel modern control method based on the nonsingular terminal sliding mode is designed in this paper. Combining the traditional fast terminal sliding mode and the nonsingular terminal sliding mode, the proposed control method possesses the characteristics of rapidity, nonsingularity, finite-time convergence and strong robustness. The chattering from sliding mode controller can also be suppressed effectively. Here, the mathematical model of robotic manipulator structure which can be simplified as a 2-DOF rigid linkage system is built, firstly. Next, a robust controller is designed. Then, the Lyapunov function is constructed to verify its stability. Finally, detailed simulations with some comparisons demonstrate the effectiveness of the proposed method. © 2020, Jilin University Press. All right reserved.
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页码：464 / 471
页数：7
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