Lyapunov Optimizing Sliding Mode Control for Robot Manipulators
نویسنده
چکیده
Abstract This paper studies the robust optimal control problem for robot tracking system. An optimal sliding mode control law is designed to solve this problem. Integral sliding mode control is employed to combine the first-order sliding mode with optimal control approach and is applied to robust control of robot manipulators. For the optimal control part, the Lyapunov optimizing control method is used to solve the finite-time nonlinear optimal control problem. The second method of Lyapunov is used to show that tracking is achieved globally. A case study of two-link robot model is presented to demonstrate the usefulness of the developed approach.
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