Terminal Sliding-Mode Control of Uncertain Robotic Manipulator System with Predefined Convergence Time
نویسندگان
چکیده
منابع مشابه
Second Order Sliding Mode Control With Finite Time Convergence
In this paper, a new smooth second order sliding mode control is proposed. This algorithm is a modified form of Super Twisting algorithm. The Super Twisting guarantees the asymptotic stability, but the finite time stability of proposed method is proved with introducing a new particular Lyapunov function. The Proposed algorithm which is able to control nonlinear systems with matched structured u...
متن کاملsecond order sliding mode control with finite time convergence
in this paper, a new smooth second order sliding mode control is proposed. this algorithm is a modified form of super twisting algorithm. the super twisting guarantees the asymptotic stability, but the finite time stability of proposed method is proved with introducing a new particular lyapunov function. the proposed algorithm which is able to control nonlinear systems with matched structured u...
متن کاملObserver-based sliding mode control of a robotic manipulator
This paper presents a new approach for the design of variable structure control (VSC) of nonlinear systems. The approach is based on estimation of joint acceleration signals with introduction of load estimation with the asymptotic observer. The control system is insensitive to parameter variations for a chosen switching hypersurface in conditions when it is reached by the dynamic motion with th...
متن کاملA Novel Recursive Terminal Sliding Mode with Finite-Time Convergence
*School of Information Science and Technology, Dalian Maritime University,Dalian, China, 116026 (Tel: 86-411-84725191; e-mail:shuanghe@ newmail.dlmu.edu.cn, dujl@ newmail.dlmu.edu.cn ). ** School of Electrical and Computer Engineering, Royal Melbourne Institute of Technology University Melbourne, VIC 3001, Australia, (e-mail:[email protected]) ***College of Mechanic & Electric Engineering, Harbi...
متن کاملNeural Network MLP with Sliding Mode Controller for Robotic Manipulator
In this paper, MLP network with sliding-mode controller and neural control is designed to the joint position control of two-link robot manipulators for periodic motion and predefined trajectory tracking control. Because the nonlinear nature robot, first the nonlinear and robust method sliding mode as a control theory for the system is chosen. Chattering phenomenon is always a problem of sliding...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Complexity
سال: 2021
ISSN: 1099-0526,1076-2787
DOI: 10.1155/2021/9991989