Swinburne
Browse

Non-singular terminal sliding mode control and its application for robot manipulators

Download (302.59 kB)
conference contribution
posted on 2024-07-11, 17:22 authored by Yong Feng, Xinghuo Yu, Zhihong ManZhihong Man
A global non-singular terminal sliding mode controller for second order uncertain nonlinear dynamic systems, which enables enables finite time reachibility and elimination of the singularity problem associated with conventional terminal sliding mode control. The tracking precision problem is also explored. The relationship between the tracking precision and the width of the saturation function used for elimination of chattering is formulated. The proposed controller is then applied to the control of a rigid manipulator. Simulation results are presented to validate the analysis.

History

Available versions

PDF (Published version)

ISBN

9780780366855

Journal title

IEEE International Symposium on Circuits and Systems (ISCAS 2001), Sydney, Australia, 06-09 May 2001

Conference name

IEEE International Symposium on Circuits and Systems ISCAS 2001, Sydney, Australia, 06-09 May 2001

Volume

3

Issue

1

Pagination

3 pp

Publisher

IEEE

Copyright statement

Copyright © 2001 IEEE. The published version is reproduced in accordance with the copyright policy of the publisher. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

Language

eng

Usage metrics

    Publications

    Categories

    No categories selected

    Keywords

    Exports

    RefWorks
    BibTeX
    Ref. manager
    Endnote
    DataCite
    NLM
    DC