Non-singular terminal sliding mode control of rigid manipulators

This paper presents a global non-singular terminal sliding mode controller for rigid manipulators. A new terminal sliding mode manifold is first proposed for the second-order system to enable the elimination of the singularity problem associated with conventional terminal sliding mode control. The t...

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Bibliographic Details
Published in:Automatica (Oxford) 2002-12, Vol.38 (12), p.2159-2167
Main Authors: Feng, Yong, Yu, Xinghuo, Man, Zhihong
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control system analysis
Control system synthesis
Control theory. Systems
Exact sciences and technology
Lyapunov stability
Robotic manipulator
Robotics
Robust control
Singularity
Terminal sliding mode control
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Summary:This paper presents a global non-singular terminal sliding mode controller for rigid manipulators. A new terminal sliding mode manifold is first proposed for the second-order system to enable the elimination of the singularity problem associated with conventional terminal sliding mode control. The time taken to reach the equilibrium point from any initial state is guaranteed to be finite time. The proposed terminal sliding mode controller is then applied to the control of n-link rigid manipulators. Simulation results are presented to validate the analysis.
ISSN:0005-1098
1873-2836
DOI:10.1016/S0005-1098(02)00147-4