Continuous finite-time control for robotic manipulators with terminal sliding mode

被引：2487

作者：

Yu, SH ^{[1
]}

Yu, XH

Shirinzadeh, B

Man, ZH

机构：

[1] Dalian Maritime Univ, Sch Automat & Elect Engn, Dalian 116026, Peoples R China

[2] RMIT Univ, Sch Elect & Comp Engn, Melbourne, Vic 3001, Australia

[3] Monash Univ, Dept Mech Engn, Clayton, Vic 3800, Australia

[4] Nanyang Technol Univ, Sch Comp Engn, Singapore 2263, Singapore

来源：

AUTOMATICA | 2005年 / 41卷 / 11期

基金：

澳大利亚研究理事会;

关键词：

finite-time stability; terminal sliding mode; fractional power; robustness; high precision;

D O I：

10.1016/j.automatica.2005.07.001

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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. (c) 2005 Elsevier Ltd. All rights reserved.

引用

页码：1957 / 1964

页数：8

共 11 条

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