Continuous finite-time control for robotic manipulators with terminal sliding mode

By Shuanghe Yu, Xinghuo Yu, B. Shirinzadeh, Zhihong Man. at - Automatisierungstechnik, 2003

2,441 citations recorded by the source corpus.

A continuous finite-time control scheme for rigid robotic manipulators is proposed using a new form of terminal sliding modes. The robustness of the controller is established using the Lyapunov stability theory. Theoretical analysis and simulation results show that faster and high-precision tracking performance is obtained compared with the conventional continuous sliding mode control method.

Subfields: Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/ebd054eef69786e7e6be58684d0dd74a51c6b751

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. Shaocheng Tong
2. Xu Jin
3. Xinghuo Yu
4. Zhihong Man
5. Yuanqing Xia
6. Yong Feng
7. Shuzhi Sam Ge
8. Kunfeng Lu

Citations in the corpus

• Fault tolerant finite-time leader-follower formation control for autonomous surface vessels with LOS range and angle constraints (2016, neutral): “(9) Lemma 4 (Yu et al., 2005).”
• Nonsingular fast terminal sliding‐mode control for nonlinear dynamical systems (2011, background): “[19]) The TSM and NTSM are described by the following first-order nonlinear differential equations: (t) = ẋ +k signa x =0, k>0, 0<a<1, (2a) (t) = x +k′ signa ẋ =0, k′>0, 1<a′<2.”
• Terminal Sliding Mode Control – An Overview (2021, methodology): “In the early 2000s, a series of theoretical breakthroughs were made, such as the nonsingular TSMC [13] to address the singularity problem in TSMC systems, the fast TSMC [14] to accelerate the convergence of the basic TSMC for higher-order SISO systems, and continuous TSMC for robot control [15].”
• Robust adaptive finite‐time parameter estimation and control for robotic systems (2015, methodology): “However, in case S1 ¤ 0, there may be a potential singularity problem [23, 24, 27] when e D 0; P e ¤ 0.”
• Command Filter-Based Adaptive Fuzzy Finite-Time Output Feedback Control of Nonlinear Electrohydraulic Servo System (2022, background): “Lemma 1 (see [52]): For any given positive character λ1 > 0, λ2 > 0, and 0 < γ < 1, V (x) is a certain positive with”
• Event-Based Finite-Time Control for Nonlinear Multiagent Systems With Asymptotic Tracking (2023, background): “3197562 a higher convergence rate, superior tracking performance, and better robustness [15], [16], [17], [18], [19], [20].”
• Fractional-order nonsingular terminal sliding mode control of hydraulic manipulators using time delay estimation (2016, background): “However, it is now believed that fractional-order (FO) ones may further improve the control performance (Zhang et al., 2012).”