Non-singular terminal sliding mode control of rigid manipulators

By Yong Feng, Xinghuo Yu, Zhihong Man. at - Automatisierungstechnik, 2002

2,181 citations recorded by the source corpus.

Subfields: Control and Systems Engineering, Mechanical Engineering

View Paper: https://www.semanticscholar.org/paper/826d4d086f38deaa106ad8d3984c25d271fd69d6

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Control and Systems Engineering

1. Xinghuo Yu
2. Zhihong Man
3. Shihua Li
4. Zongyu Zuo
5. S. Khoo
6. Hongyi Li
7. Ziyang Meng
8. Wei Ren

In Mechanical Engineering

1. Yao-yao Wang
2. Linyi Gu
3. Zhihong Man
4. Xinghuo Yu
5. Shihua Li
6. Zongyu Zuo
7. Sachit Rao
8. Tianyou Chai

Citations in the corpus

• Adaptive Sliding Mode Disturbance Observer-Based Composite Control With Prescribed Performance of Space Manipulators for Target Capturing (2019, background): “Similar to the works [40] and [41], now we will prove that ż = 0 is not an attractor.”
• Robust Finite-Time Consensus Tracking Algorithm for Multirobot Systems (2009, background): “Remark 3: It has been seen in (35) that, this TSM surface is the conventional TSM proposed in [13].”
• Practical Nonsingular Terminal Sliding-Mode Control of Robot Manipulators for High-Accuracy Tracking Control (2009, methodology): “In equation (26), since p and q are positive odd integers and 1 < p/q < 2, ė i > 0 for ėi = 0 [23].”
• Adaptive attitude tracking control for rigid spacecraft with finite-time convergence (2013, neutral): “…(TSM) s = ẋ+kx r1 r2 (k > 0, 0 < r1r2 < 1) (Venkataraman & Gulati, 1991), r1 > 0, r2 > 0 are odd integers, and NTSM s = x + k− r1 r2 ẋ r2 r1 (k > 0, 1 r2r1 2) in Feng, Yu, and Man (2002), have been developed widely that enables the system states to approach equilibrium in finite time.”
• Derivative and integral terminal sliding mode control for a class of MIMO nonlinear systems (2012, background): “Unfortunately,most of nonsingular TSMCmethods (e.g., Feng et al., 2002, Hirzinger, 2000, Zhao, Li, & Gao, 2008) are available only for second-order systems (indeed, robotic manipulators received the most attention).”
• Distributed finite-time attitude containment control for multiple rigid bodies (2010, positive): “However, this sliding surface might lead the control torque to contain the term diag(σ α ′ −1 i )σ̇ i and hence results in a singularity when σ i = 0 but σ̇ i ≠ 0 (Feng et al., 2002).”
• Adaptive Sliding Mode Control for Interval Type-2 Fuzzy Systems (2016, methodology): “For rigid manipulators, a global nonsingular terminal sliding mode controller was presented in [49], and a higher order SMC scheme was proposed in [50] for uncertain nonlinear systems.”
• Practical Tracking Control of Robot Manipulators With Continuous Fractional-Order Nonsingular Terminal Sliding Mode (2016, methodology): “Afterwards, evolved versions of TSM, such as fast TSM [16], nonsingular TSM (NTSM) [17], continuous nonsingular TSM [14], had been proposed and investigated.”
• Neural-Network-Based Terminal Sliding-Mode Control of Robotic Manipulators Including Actuator Dynamics (2009, methodology): “Moreover, the controllers proposed in [9] and [10] used computed torque control law and needed the knowledge about model characteristics and parameters.”
• Adaptive finite-time control of nonlinear systems with parametric uncertainty (2006, background): “In recent years, finite-time stabilization controllers have been investigated for a number of class of systems [2], [4], [5], [7]–[9].”
• Time-varying feedback for regulation of normal-form nonlinear systems in prescribed finite time (2017, background): “…global finite-time stabilization of strict feedback systems; Polyakov and Poznyak (2009) present a sign function based (discontinuous) controller; Feng, Yu, and Man (2002) design a non-singular terminal sliding controller for robot systems; Shen and Huang (2009) present a global finite-time…”