Terminal sliding mode control for rigid robots

被引：500

作者：

Tang, Y ^{[1
]}

机构：

[1] Natl Autonomous Univ Mexico, DEPFI, Mexico City 04510, DF, Mexico

来源：

AUTOMATICA | 1998年 / 34卷 / 01期

关键词：

robust control; robotic manipulator; Lyapunov stability; stability analysis; performance analysis;

D O I：

10.1016/S0005-1098(97)00174-X

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a new design of terminal sliding mode control for n-link rigid robot manipulators. By exploring thoroughly some properties of robot manipulators, the proposed scheme simplifies significantly the controller designs given in Venkataraman and Gulati (1989) and Man et al. (1994). Compared to the linear sliding mode control, the main features of this terminal sliding mode control are the reduced tracking error in the steady state and reduced control efforts in the transient state. Experiment results are included to show the performance of the proposed controller. (C) 1998 Elsevier Science Ltd. All rights reserved.

引用

页码：51 / 56

页数：6

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