Adaptive Nonsingular Fast Terminal Sliding Mode Tracking Control for Parallel Manipulators with Uncertainties

被引：0
|
作者：
Van-Truong Nguyen [1 ]
Shun-Feng Su [2 ]
Anh-Tu Nguyen [1 ]
Van-Thien Nguyen [1 ]
机构：
[1] Hanoi Univ Ind, Dept Mech Engn, Hanoi, Vietnam
[2] Natl Taiwan Univ Sci & Technol, Dept Elect Engn, Taipei 106, Taiwan
来源：
PROCEEDINGS OF 2019 INTERNATIONAL CONFERENCE ON SYSTEM SCIENCE AND ENGINEERING (ICSSE) | 2019年
关键词：
Parallel Manipulator; Nonsingular Fast Terminal Sliding Mode Control; Uncertainty; Adaptive Control; SYSTEMS;
D O I：
10.1109/icsse.2019.8823137
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, an adaptive nonsingular fast terminal sliding mode tracking control scheme is proposed for parallel manipulators with uncertainties. Based on the nonsingular fast terminal sliding mode control, the proposed approach can have superior tracking control performance in the case of full-state constraints with the external disturbances and uncertainties. Besides, the proposed scheme can have several advantages such as rapid response, robustness, higher precision, nonsingular, and finite-time converge, easy implementation, and chattering-free. Simulation results validate the effectiveness of the proposed method.
引用
收藏
页码：522 / 525
页数：4
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