×

zbMATH — the first resource for mathematics

Non-singular terminal sliding mode control of rigid manipulators. (English) Zbl 1015.93006
The authors present a global nonsingular terminal sliding mode (NTSM) controller for a class of nonlinear dynamical systems with parameter uncertainties and external disturbances. A NTSM manifold is proposed to overcome the singularity problems. The proposed NTSM controller is applied to the control of \(n\)-degree-of-freedom rigid manipulators.

MSC:
93B12 Variable structure systems
93C85 Automated systems (robots, etc.) in control theory
70E60 Robot dynamics and control of rigid bodies
93C73 Perturbations in control/observation systems
PDF BibTeX XML Cite
Full Text: DOI
References:
[1] Bhat, S. P., & Bernstein, D. S. (1997). Finite-time stability of homogeneous systems. Proceedings of American control conference (pp. 2513-2514).
[2] Feng, Y., Han, F., Yu, X., Stonier, D., & Man, Z. (2000). Tracking precision analysis of terminal sliding mode control systems with saturation functions. In X. Yu, J.-X. Xu (Eds.), Advances in variable structure systems: Analysis, integration and applications (pp. 325-334). Singapore: World Scientific.
[3] Feng, Y., Yu, X., & Man, Z. (2001). Non singular terminal sliding mode control and its applications to robot manipulators. Proceedings of 2001 IEEE international symposium on circuits and systems, Vol. III (pp. 545-548). Sydney, May 2001.
[4] Haimo, V.T., Finite time controllers, SIAM journal of control and optimization, 24, 4, 760-770, (1986) · Zbl 0603.93005
[5] Man, Z.; Paplinski, A.P.; Wu, H., A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators, IEEE transactions on automatic control, 39, 12, 2464-2469, (1994) · Zbl 0825.93551
[6] Man, Z.; Yu, X., Terminal sliding mode control of mimo linear systems, IEEE transactions on circuits and systems I: fundamental theory and applications, 44, 11, 1065-1070, (1997)
[7] Slotine, J.E.; Li, W., Applied non-linear control, (1991), Prentice-Hall Englewood Cliffs, NJ
[8] Tang, Y., Terminal sliding mode control for rigid robots, Automatica, 34, 1, 51-56, (1998) · Zbl 0908.93042
[9] Utkin, V.I., Sliding modes in control optimization, (1992), Springer Berlin, Heidelberg · Zbl 0748.93044
[10] Wu, Y.; Yu, X.; Man, Z., Terminal sliding mode control design for uncertain dynamic systems, Systems and control letters, 34, 281-288, (1998) · Zbl 0909.93005
[11] Yu, X.; Man, Z., Model reference adaptive control systems with terminal sliding modes, International journal of control, 64, 6, 1165-1176, (1996) · Zbl 0864.93068
[12] Yurl, B. S., & James, M. B. (1988). Continuous sliding mode control. Proceedings of American Control Conference (pp. 562-563).
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. It attempts to reflect the references listed in the original paper as accurately as possible without claiming the completeness or perfect precision of the matching.