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
相关论文
共 50 条
  • [31] Non-singular Terminal Second Order Sliding Mode with Time Delay Estimation for Uncertain Robot Manipulators
    Kali, Yassine
    Saad, Maarouf
    Benjelloun, Khalid
    ICINCO: PROCEEDINGS OF THE 14TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS - VOL 2, 2017, : 226 - 232
  • [32] An Adaptive Terminal Sliding Mode Control for Robot Manipulators With Non-Singular Terminal Sliding Surface Variables
    Anh Tuan Vo
    Kang, Hee-Jun
    IEEE ACCESS, 2019, 7 : 6701 - 6712
  • [33] A Novel Non-Singular Terminal Sliding Mode Trajectory Tracking Control for Robotic Manipulators
    Zhai, Junyong
    Xu, Gui
    IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS, 2021, 68 (01) : 391 - 395
  • [34] Second-order Non-singular Terminal Sliding Mode Optimal Control of Uncertain Flexible Manipulator
    Xu, Qingyuan
    Wang, Weihua
    Xia, Hongwei
    Wang, Yanmin
    Feng, Yong
    2018 IEEE 8TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER), 2018, : 1376 - 1381
  • [35] Non-singular terminal sliding mode control for a class of second-order systems with mismatched uncertainty
    Zhao, Ning
    Zhang, Ye
    Yang, Xincheng
    Zhao, Dongya
    INTERNATIONAL JOURNAL OF AUTOMATION AND CONTROL, 2022, 16 (3-4) : 272 - 287
  • [36] Continuous non-singular fast terminal sliding mode control of robotic manipulators considering disturbance and input saturation
    Chen Z.-S.
    Wang X.-S.
    Cheng Y.-H.
    Kongzhi yu Juece/Control and Decision, 2022, 37 (04): : 903 - 912
  • [37] Trajectory tracking based on adaptive fast non-singular terminal sliding mode control
    Chen, Jiqing
    Liu, Xu
    Zhao, Chaoyang
    Mo, Rongxian
    Huang, Chunlin
    Cai, Ganwei
    INTERNATIONAL JOURNAL OF COMPUTING SCIENCE AND MATHEMATICS, 2022, 16 (01) : 24 - 34
  • [38] Fault-tolerant control of second-order systems based on augmented improved extended state observer and non-singular high-order fast terminal sliding mode
    Yang, Pu
    Liu, Peng
    Wen, ChenWan
    Geng, Huilin
    Feng, KeJia
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2023, 237 (06) : 975 - 983
  • [39] Adaptive non-singular fast terminal sliding mode based tolerant control for spacecraft
    Han Z.-G.
    Zhang K.
    Lü M.-B.
    Wang P.
    Wang J.-Y.
    Kong Zhi Li Lun Yu Ying Yong, 8 (1046-1053): : 1046 - 1053
  • [40] Non-singular terminal sliding mode control of rigid manipulators
    Feng, Y
    Yu, XH
    Man, ZH
    AUTOMATICA, 2002, 38 (12) : 2159 - 2167
12345