Observer‐based adaptive second‐order non‐singular fast terminal sliding mode controller for robotic manipulators
Haitao Liu, Jian Sun, Jianhao Nie, Lanping Zou
Abstract
Abstract In this paper, a second‐order non‐singular fast terminal sliding mode controller is proposed for robotic manipulators in the presence of uncertainties and disturbances. Adaptive control is used to obtain robustness to system uncertainties and disturbances. The improved high‐gain observer is designed to estimate the speed information, which makes the controller more applicable in practice. Theorem proof and simulations demonstrate the effectiveness of the proposed controller.
Topics & Concepts
Control theory (sociology)Robustness (evolution)Terminal sliding modeRobot manipulatorTerminal (telecommunication)Observer (physics)Controller (irrigation)Control engineeringComputer scienceAdaptive controlSliding mode controlEngineeringRobotControl (management)Artificial intelligenceNonlinear systemPhysicsBiochemistryChemistryGeneBiologyAgronomyQuantum mechanicsTelecommunicationsAdaptive Control of Nonlinear SystemsAdvanced Control Systems DesignIterative Learning Control Systems