Non-singular terminal sliding mode control of rigid manipulators

Feng, Yong; Yu, Xinghuo; Man, Zhihong

doi:10.1016/s0005-1098(02)00147-4

Cited by 2,004 publications

(1,267 citation statements)

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“…Lemma 1. Consider the candidate positive-de nite functional V (t), which ful lls a di erential inequality, as [19]:…”

Section: Problem Descriptionmentioning

confidence: 99%

“…TSMC is principally suitable for high-precision stabilization and control as it precipitates the convergence rate near the origin [18]. However, when the state trajectories of the system are far away from the origin, TSMC cannot present appropriate convergence e ciency like SMC [19]. The Fast Terminal Sliding-Mode Control (FTSMC) idea guarantees fast transient convergence and strong robustness [20].…”

Section: Introduction 1background and Motivationsmentioning

confidence: 99%

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Nonsingular fast terminal sliding-mode stabilizer for a class of uncertain nonlinear systems based on disturbance observer

Mobayen

Tchier

2017

Scientia Iranica

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Abstract. This paper investigates a novel nonsingular fast terminal sliding-mode control method for the stabilization of the uncertain time-varying and nonlinear thirdorder systems. The designed disturbance observer satis es the nite-time convergence of the disturbance approximation error and the suggested nite-time stabilizer assures the presence of the switching behavior around the switching curve in the nite time. Furthermore, this approach can overcome the singularity problem of the fast terminal sliding-mode control technique. Moreover, knowledge about the upper bounds of the disturbances is not required and the chattering problem is eliminated. Usefulness and e ectiveness of the o ered procedure are con rmed by numerical simulation results.

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“…Lemma 1. Consider the candidate positive-de nite functional V (t), which ful lls a di erential inequality, as [19]:…”

Section: Problem Descriptionmentioning

confidence: 99%

Section: Introduction 1background and Motivationsmentioning

confidence: 99%

Nonsingular fast terminal sliding-mode stabilizer for a class of uncertain nonlinear systems based on disturbance observer

Mobayen

Tchier

2017

Scientia Iranica

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“…, s n ) T ∈ R n be a task space sliding vector variable. In order to overcome the limitations and shortcomings of the first order classic sliding variables [4,12,13], we propose the following non-singular terminal sliding manifold:…”

Section: And L ≥ 1 Then the Following Inequality Holds Truementioning

confidence: 99%

“…In order to speed up the convergence process of differentiators (39)- (40), (39)- (40), they are assumed for simplicity of computations in all the simulations to be equal, i.e., L e (t) = L q (t). The estimates of the constants c 4 , c 5 and c 6 can be determined as follows c 4 …”

Section: Mṙ + E(qq)r + Y (Eė Qq) + D(t Qq) = Vmentioning

confidence: 99%

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Robust Task Space Finite-Time Chattering-Free Control of Robotic Manipulators

Galicki

2016

J Intell Robot Syst

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This work deals with the problem of the accurate task space control subject to finite-time convergence. Kinematic and dynamic equations of a rigid robotic manipulator are assumed to be uncertain. Moreover, unbounded disturbances, i.e., such structures of the modelling functions that are generally not bounded by construction, are allowed to act on the manipulator when tracking the trajectory by the end-effector. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of absolutely continuous (chattering-free) robust controllers based on the estimation of a Jacobian transpose matrix, which seem to be effective in counteracting uncertain both kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a 2DOF robotic manipulator with two revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers.

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