Fixed-Time Sliding Mode Control for Uncertain Robot Manipulators
نویسندگان
چکیده
منابع مشابه
Higher Order Sliding Mode Control of Uncertain Robot Manipulators
This paper proposes a higher order sliding mode controller for uncertain robot manipulators. The motivation for using high order sliding mode mainly relies on its appreciable features, such as high precision and elimination of chattering in addition that assure the same performance of conventional sliding mode like robustness. Instead of a regular control input, the derivative of the control in...
متن کاملDiscrete-time based sliding-mode control of robot manipulators
Purpose – The purpose of this paper is to develop sliding mode control with linear and nonlinear manifolds in discrete-time domain for robot manipulators. Design/methodology/approach – First, a discrete linear sliding mode controller is designed to an n-link robot based on Gao’s reaching law. In the second step, a discrete terminal sliding mode controller is developed to design a finite time an...
متن کاملSecond Order Sliding Mode-Based Output Feedback Tracking Control for Uncertain Robot Manipulators
In this paper, a robust output feedback tracking control scheme for motion control of uncertain robot manipulators without joint velocity measurement based on a second‐order sliding mode (SOSM) observer is presented. Two second‐order sliding mode observers with finite time convergence are developed for velocity estimation and uncertainty identification, respectiv...
متن کاملLyapunov Optimizing Sliding Mode Control for Robot Manipulators
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...
متن کاملNeural Network Global Sliding Mode PID Control for Robot Manipulators
This paper presents a neural network global PID-sliding mode control method for the tracking control of robot manipulators with bounded uncertainties. A certain sliding mode controller with PID sliding function is developed. In this controller, the switching gain is tuned by a RBF neural network on the reachable condition of sliding mode. Thus, the effect of chattering can be alleviated. Moreov...
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: IEEE Access
سال: 2019
ISSN: 2169-3536
DOI: 10.1109/access.2019.2946866