Practical Nonsingular Terminal Sliding-Mode Control of Robot Manipulators for High-Accuracy Tracking Control

被引：322
|
作者：
Jin, Maolin [1 ]
Lee, Jinoh [2 ]
Chang, Pyung Hun [2 ]
Choi, Chintae [1 ]
机构：
[1] Res Inst Ind Sci & Technol, Syst Solut Res Dept, Pohang 790330, South Korea
[2] Korea Adv Inst Sci & Technol, Dept Mech Engn, Robot & Control Lab, Taejon 305701, South Korea
来源：
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2009年 / 56卷 / 09期
基金：
新加坡国家研究基金会;
关键词：
Model-free control; nonsingular terminal sliding mode (NTSM); terminal sliding mode (TSM); time-delay estimation (TDE); CONTROL DESIGN; SYSTEMS; NETWORKS; SCHEME; SMC;
D O I：
10.1109/TIE.2009.2024097
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a practical nonsingular terminal sliding-mode (TSM) tracking control design for robot manipulators using time-delay estimation (TDE). The proposed control assures fast convergence due to the nonlinear TSM, and requires no prior knowledge about the robot dynamics due to the TDE. Despite its model-free nature, the proposed control provides high-accuracy control and robustness against parameters variations. The simplicity, robustness, and fast convergence of the proposed control are verified through both 2-DOF planar robot simulations and 3-DOF PUMA-type robot experiments.
引用
收藏
页码：3593 / 3601
页数：9
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