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Yu, Shuanghe; Yu, Xinghuo; Shirinzadeh, Bijan; Man, Zhihong

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

Automatica 41, No. 11, 1957-1964 (2005).
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.

Cited in 260 Documents

MSC:

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

Keywords:

finite-time stability; terminal sliding mode; fractional power; robustness; high precision
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\textit{S. Yu} et al., Automatica 41, No. 11, 1957--1964 (2005; Zbl 1125.93423)
Full Text: DOI

References:

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