A new nonsingular integral terminal sliding mode control for robot manipulators
Yuxin Su, Chunhong Zheng
Abstract
This paper presents a new terminal sliding mode control for global finite-time tracking of uncertain robot manipulators. A novel integral sliding surface is proposed to eliminate the singularity completely. By integrating the proposed sliding surface and finite-time stability theory, a simple nonsingular terminal sliding mode control is developed. Global finite-time convergence of both sliding surface and tracking errors is proven. Simulations performed on a two degree-of-freedom (DOF) robot are presented to illustrate the effectiveness and improved performance of the proposed approach.
Topics & Concepts
Control theory (sociology)Invertible matrixConvergence (economics)Sliding mode controlTracking (education)Stability (learning theory)SingularityTerminal (telecommunication)Surface (topology)Terminal sliding modeTrajectoryIntegral sliding modeRobotComputer scienceMathematicsEngineeringControl (management)Artificial intelligenceNonlinear systemPhysicsGeometryMachine learningEconomicsAstronomyPure mathematicsEconomic growthPedagogyTelecommunicationsPsychologyQuantum mechanicsAdaptive Control of Nonlinear SystemsControl and Dynamics of Mobile RobotsAdvanced Control Systems Design