Title :
Non-singular terminal sliding mode control and its application for robot manipulators
Author :
Feng, Yong ; Yu, Xinghuo ; Man, Zhihoizg
Author_Institution :
Fac. of Inf. & Commun., Central Queensland Univ., Rockhampton, Qld., Australia
Abstract :
A global non-singular terminal sliding mode controller for second order uncertain nonlinear dynamic systems, which enables finite time reachability and elimination of the singularity problem associated with conventional terminal sliding mode control. The tracking precision problem is also explored. The relationship between the tracking precision and the width of the saturation function used for elimination of chattering is formulated. The proposed controller is then applied to the control of a rigid manipulator. Simulation results are presented to validate the analysis
Keywords :
control system analysis; manipulators; nonlinear control systems; uncertain systems; variable structure systems; chattering elimination; finite time reachability; non-singular terminal sliding mode control; rigid manipulator; robot manipulators; saturation function; second order uncertain systems; singularity problem elimination; tracking precision problem; uncertain nonlinear dynamic systems; Analytical models; Control systems; Manipulator dynamics; Nonlinear control systems; Power system dynamics; Power system simulation; Robots; Sliding mode control; Steady-state; Variable structure systems;
Conference_Titel :
Circuits and Systems, 2001. ISCAS 2001. The 2001 IEEE International Symposium on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6685-9
DOI :
10.1109/ISCAS.2001.921368
