A simple non-singular terminal sliding mode control for uncertain robot manipulators

作者：Zhang, Liyin; Su, Yuxin^*; Wang, Zeng

来源：Proceedings of the Institution of Mechanical Engineers Part I-Journal of Systems and Control Engineering, 2019, 233(6): 666-676.

DOI：10.1177/0959651818806797

• Robot manipulators
• terminal sliding mode control
• finite-time stability
• robust control
• uncertain systems

This article presents an improved robust tracking control for uncertain robot manipulators. An approximate terminal sliding mode control is proposed by integrating a terminal sliding surface with a novel nonlinear function. Lyapunov stability theory is employed to prove the global approximate finite-time stability ensuring that the tracking errors can globally converge to an arbitrary small ball centred at the origin within a finite time and thereafter arrive at the origin asymptotically. The benefits of this integrated design are that it can ensure fast transient and high steady-state tracking precision. Extensive simulations and experimental results are presented to demonstrate the effectiveness and improved performance of the proposed approach.

• 出版日期2019-7
• 单位西安电子科技大学