Continuous finite-time control for robotic manipulators with terminal sliding mode

被引：2386
|
作者：
Yu, SH [1 ]
Yu, XH
Shirinzadeh, B
Man, ZH
机构：
[1] Dalian Maritime Univ, Sch Automat & Elect Engn, Dalian 116026, Peoples R China
[2] RMIT Univ, Sch Elect & Comp Engn, Melbourne, Vic 3001, Australia
[3] Monash Univ, Dept Mech Engn, Clayton, Vic 3800, Australia
[4] Nanyang Technol Univ, Sch Comp Engn, Singapore 2263, Singapore
来源：
AUTOMATICA | 2005年 / 41卷 / 11期
基金：
澳大利亚研究理事会;
关键词：
finite-time stability; terminal sliding mode; fractional power; robustness; high precision;
D O I：
10.1016/j.automatica.2005.07.001
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A continuous finite-time control scheme for rigid robotic manipulators is proposed using a new form of terminal sliding modes. The robustness of the controller is established using the Lyapunov stability theory. Theoretical analysis and simulation results show that faster and high-precision tracking performance is obtained compared with the conventional continuous sliding mode control method. (c) 2005 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1957 / 1964
页数：8
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