Global fast terminal sliding mode control for robotic manipulators

descriptionPublicationkeyboard_double_arrow_right Article 01 Jan 2006 English Publisher:Inderscience PublishersJournal:International Journal of Modelling, Identification and Control, volume 1, page 72 (issn: 1746-6172, eissn: 1746-6180,

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Authors: Shuanghe Yu; Ge Guo 0001; Zi Ma; Jialu Du;

doi: 10.1504/ijmic.2006.008650

Global fast terminal sliding mode control for robotic manipulators

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Abstract

A Global Fast Terminal Sliding Mode Controller (GFTSMC) is proposed for n-link robotic manipulators by employing the Fast Terminal Sliding Mode (FTSM) control concept in both the reaching phase and the sliding phase. Under the control, the system states will reach FTSM in desired finite time and then converge to the origin along the FTSM in specified finite time, resulting in a reduced steady tracking error in comparison with the conventional sliding mode controller. The proposed controller is continuous and therefore chattering-free. An example is presented to demonstrate its effectiveness.

Related Organizations

Dalian Maritime University
China (People's Republic of)

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