A new terminal sliding mode control for robotic manipulators

被引：121
|
作者：
Zhao, Dongya [1 ,2 ]
Li, Shaoyuan [1 ]
Gao, Feng [3 ]
机构：
[1] Shanghai Jiao Tong Univ, Inst Automat, Shanghai 200240, Peoples R China
[2] China Univ Petr, Coll Mech & Elect Engn, Dongying 257061, Peoples R China
[3] Shanghai Jiao Tong Univ, Sch Mech Engn, Shanghai 200240, Peoples R China
来源：
INTERNATIONAL JOURNAL OF CONTROL | 2009年 / 82卷 / 10期
基金：
中国国家自然科学基金; 高等学校博士学科点专项科研基金;
关键词：
terminal sliding mode control; finite-time stability; robot control; TRACKING CONTROL; RIGID ROBOTS; TIME; SYSTEMS;
D O I：
10.1080/00207170902769928
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 study, a new terminal sliding mode control approach is developed for robotic manipulators based on finite-time stability theory and differential inequality principle. The corresponding stability analysis is presented to lay a foundation for theoretical understanding to the underlying design issue as well as safe operation for real system. An illustrative example of a two-link rigid robotic manipulator is presented to validate effectiveness of the proposed approach.
引用
收藏
页码：1804 / 1813
页数：10
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