A Novel Non-Singular Terminal Sliding Mode Trajectory Tracking Control for Robotic Manipulators
Junyong Zhai, Gui Hong Xu
Abstract
This brief investigates the trajectory tracking problem of n-link robotic manipulators with internal uncertainties and external disturbances. At first, a novel non-singular terminal sliding mode surface is proposed which contains arctan function (ATNTSM). Then, a robust ATNTSM control law is designed to ensure that the system states globally converges to origin in finite time. Moreover, the sign function is replaced by saturation function in the control law, thus the actual control law becomes continuous and the chattering phenomenon can be completely eliminated. In the end, a two-link robotic manipulators as an example is provided to illustrate the effectiveness of the proposed scheme.
Topics & Concepts
Control theory (sociology)Sign functionTerminal sliding modeTrajectoryInverse trigonometric functionsTerminal (telecommunication)Sliding mode controlFunction (biology)Computer scienceMathematicsControl (management)Nonlinear systemArtificial intelligencePhysicsMathematical analysisEvolutionary biologyAstronomyTelecommunicationsBiologyQuantum mechanicsAdaptive Control of Nonlinear SystemsDynamics and Control of Mechanical SystemsControl and Dynamics of Mobile Robots