Continuous finite‐time control for uncertain robot manipulators with integral sliding mode
2018; Institution of Engineering and Technology; Volume: 12; Issue: 11 Linguagem: Inglês
10.1049/iet-cta.2017.1361
ISSN1751-8652
AutoresLiyin Zhang, Linzhi Liu, Zeng Wang, Yuquan Xia,
Tópico(s)Dynamics and Control of Mechanical Systems
ResumoThis study investigates a continuous sliding mode tracking problem for robot manipulators under the presence of parametric uncertainty and external disturbances. A chattering-free integral terminal sliding mode control scheme is first proposed by integrating an integral terminal sliding surface with an observer. Lypaunov stability theory is employed to prove the global finite-time tracking of robotic system. The appealing advantages of the proposed controller are that it is easy to implement with the continuous sliding mode control featuring chattering-free, fast transient and high steady-state tracking precision. Extensive simulations on two degree of freedoms (DOFs) are presented to demonstrate the effectiveness and improved performance of the proposed approach.
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