Adaptive non-singular terminal sliding mode control with high-gain observers for robotic manipulators

被引：0
|
作者：
Liu, Haitao [1 ]
Sun, Jian [1 ]
Nie, Jianhao [1 ]
Chen, Guangjun [1 ]
Zou, Lanping [1 ]
机构：
[1] Guangdong Ocean Univ, Sch Mech & Power Engn, Zhanjiang 524000, Peoples R China
来源：
PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019) | 2019年
关键词：
Terminal sliding mode control; adaptive control; High-gain observer; Robotic manipulators; TRACKING CONTROL; SYSTEMS;
D O I：
10.1109/ccdc.2019.8832608
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, an adaptive non-singular terminal sliding mode controller is proposed for robotic manipulators in the presence of uncertainties and disturbances. The adaptive control is used to obtain robustness to system uncertainties and disturbances. In addition. the high-gain observer is employed to estimate the speed information, which make the controller more applicable in practice. Theorem proof and simulations demonstrate the effectiveness of the proposed controller.
引用
收藏
页码：3547 / 3552
页数：6
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