Continuous finite-time control for robotic manipulators with terminal sliding mode. (English) Zbl 1125.93423

Summary: A continuous finite-time control scheme for rigid robotic manipulators is proposed using a new form of terminal sliding modes. The robustness of the controller is established using the Lyapunov stability theory. Theoretical analysis and simulation results show that faster and high-precision tracking performance is obtained compared with the conventional continuous sliding mode control method.


93C85 Automated systems (robots, etc.) in control theory
93B12 Variable structure systems
Full Text: DOI


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