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

conference contribution
posted on 06.12.2017, 00:00 by Shuanghe YuShuanghe Yu, X Yu, Russel StonierRussel Stonier
A new continuous finite-time control scheme (or trajectory-tracking problem ofrobotic manipulators is proposed using terminal sliding mode (TSM). The finite-time convergence property of TSM is applied in both the reaching phase and the sliding phase ofthe sliding mode control system. As a result; the closed-loop system is globally finite-time stable and the trajectory-tracking objective is achieved in finite time. The resulting control law is continuous therefore chattering-free. Furthermore. it overcomes the common singularity problem in TSM Theoretical analysis shows that the proposed control strategy has stronger robustness and disturbance-attenuation ability compared with the conventional boundary-layer method. Simulation results are given to illustrate the effectiveness ofthe proposed algorithm.

Funding

Category 1 - Australian Competitive Grants (this includes ARC, NHMRC)

History

Start Page

1433

End Page

1440

Number of Pages

8

Start Date

08/07/2003

Finish Date

11/07/2003

ISBN-10

0972184430

Location

Cairns, Australia

Publisher

International Society of Information Fusion

Place of Publication

Cairns, Queensland, Australia

Peer Reviewed

Yes

Open Access

No

External Author Affiliations

Faculty of Informatics and Communication; Royal Melbourne Institute of Technology (Australia); TBA Research Institute;

Era Eligible

Yes

Name of Conference

International Conference on Information Fusion