DocumentCode :
390854
Title :
Robust global fast terminal sliding mode controller for rigid robotic manipulators
Author :
Yu, Shuanghe ; Yu, Xinghuo
Author_Institution :
Fac. of Informatics & Commun., Univ. Coll. of Central Queensland, Rockhampton, Qld., Australia
Volume :
3
fYear :
2002
fDate :
28-31 Oct. 2002
Firstpage :
1335
Abstract :
A global fast terminal sliding mode controller (GFTSMC) is proposed for n-link rigid robot manipulators by employing the fast terminal sliding mode control concept in both the reaching phase and the sliding phase. Under the control, the system states will reach the terminal sliding manifold in a desired finite time and then converge to the origin along the sliding manifold in a specified finite time, resulting in reduced steady tracking error in comparison with the linear sliding mode controller. The proposed sliding mode controller is continuous and therefore is chattering-free. An example is shown to demonstrate the effectiveness of the controller.
Keywords :
convergence; linear systems; manipulators; robust control; variable structure systems; GFFSMC; chatter-free controller; chattering-free controller; continuous controller; convergence; linear sliding mode controller; multilink rigid robotic manipulators; reaching phase; reduced steady tracking error; robust global fast terminal sliding mode controller; sliding manifold; sliding phase; specified finite time; Australia; Centralized control; Communication system control; Control systems; Error correction; Manipulators; Robot control; Robust control; Sliding mode control; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
TENCON '02. Proceedings. 2002 IEEE Region 10 Conference on Computers, Communications, Control and Power Engineering
Print_ISBN :
0-7803-7490-8
Type :
conf
DOI :
10.1109/TENCON.2002.1182573
Filename :
1182573
Link To Document :
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