Observer-based adaptive second-order non-singular fast terminal sliding mode controller for robotic manipulators

被引：22
|
作者：
Liu, Haitao [1 ,2 ]
Sun, Jian [1 ]
Nie, Jianhao [1 ]
Zou, Lanping [1 ]
机构：
[1] Guangdong Ocean Univ, Sch Mech & Power Engn, Zhanjiang 524088, Peoples R China
[2] Southern Marine Sci & Engn Guangdong Lab Zhanjian, Zhanjiang, Peoples R China
来源：
ASIAN JOURNAL OF CONTROL | 2021年 / 23卷 / 04期
关键词：
Adaptive control; Ameliorative high-gain observer; Robotic manipulators; Second-order non-singular fast terminal control; MULTIMACHINE POWER-SYSTEMS; TRACKING;
D O I：
10.1002/asjc.2369
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, a second-order non-singular fast terminal sliding mode controller is proposed for robotic manipulators in the presence of uncertainties and disturbances. Adaptive control is used to obtain robustness to system uncertainties and disturbances. The improved high-gain observer is designed to estimate the speed information, which makes the controller more applicable in practice. Theorem proof and simulations demonstrate the effectiveness of the proposed controller.
引用
收藏
页码：1845 / 1854
页数：10
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