A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators

Author

Zhihong, Man ; Paplinski, A.P. ; Wu, H.R.

Author_Institution

Dept. of Comput. & Commun. Eng., Edith Cowan Univ., Churchlands, WA, Australia

Volume

39

Issue

12

fYear

1994

fDate

12/1/1994 12:00:00 AM

Firstpage

2464

Lastpage

2469

Abstract

In this paper, a robust multi-input/multi-output (MIMO) terminal sliding mode control technique is developed for n-link rigid robotic manipulators. It is shown that an MIMO terminal switching plane variable vector is first defined, and the relationship between the terminal switching plane variable vector and system error dynamics is established. By using the MIMO terminal sliding mode technique and a few structural properties of rigid robotic manipulators, a robust controller can then be designed so that the output tracking error can converge to zero in a finite time, and strong robustness with respect to large uncertain dynamics can be guaranteed. It is also shown that the high gain of the terminal sliding mode controllers can be significantly reduced with respect to the one of the linear sliding mode controller where the sampling interval is nonzero

Keywords

multivariable control systems; robots; robust control; variable structure systems; MIMO terminal switching plane variable vector; multilink rigid robotic manipulators; output tracking error; robust MIMO terminal sliding mode control scheme; system error dynamics; Computer errors; Error correction; MIMO; Manipulator dynamics; Robots; Robust control; Robust stability; Sampling methods; Sliding mode control; Vectors;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.362847

Filename

362847