A new terminal sliding mode control for robotic manipulators

In this study, a new terminal sliding mode control approach is developed for robotic manipulators based on finite-time stability theory and differential inequality principle. The corresponding stability analysis is presented to lay a foundation for theoretical understanding to the underlying design...

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Bibliographic Details
Published in:International journal of control 2009-10, Vol.82 (10), p.1804-1813
Main Authors: Zhao, Dongya, Li, Shaoyuan, Gao, Feng
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
finite-time stability
robot control
Robotics
terminal sliding mode control
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Summary:In this study, a new terminal sliding mode control approach is developed for robotic manipulators based on finite-time stability theory and differential inequality principle. The corresponding stability analysis is presented to lay a foundation for theoretical understanding to the underlying design issue as well as safe operation for real system. An illustrative example of a two-link rigid robotic manipulator is presented to validate effectiveness of the proposed approach.
ISSN:0020-7179
1366-5820
DOI:10.1080/00207170902769928