Robust Composite High-Order Super-Twisting Sliding Mode Control of 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 کاملSuper-Twisting Differentiator-Based High Order Sliding Mode Voltage Control Design for DC-DC Buck Converters
Yigeng Huangfu 1, Shengrong Zhuo 1,*, Akshay Kumar Rathore 2, Elena Breaz 3,4, Babak Nahid-Mobarakeh 5 and Fei Gao 3 1 School of Automation, Northwestern Polytechnical University, Xi’an 710072, China; [email protected] 2 Department of Electrical and Computer Engineering, Concordia University, Montreal, QC H3G 1M8, Canada; [email protected] 3 Research Institute of Transport, Energy and...
متن کاملA multivariable super-twisting sliding mode approach
This communique proposes a multivariable super-twisting sliding mode structure which represents an extension of the wellknown single input case. A Lyapunov approach is used to show finite time stability for the system in the presence of a class of uncertainty. This structure is used to create a sliding mode observer to detect and isolate faults for a satellite system.
متن کاملAdaptive Super-twisting Second-order Sliding Mode for Attitude Control of Quadcopter UAVs
This work addresses the modelling and control aspects for quadcopter or drone unmanned aerial vehicles (UAVs). First, the mathematical model of the drone is derived by identifying significant parameters and the negligible ones are treated as disturbances. The control design begins with the switching surface selection, then, an Adaptive Super Twisting Sliding Mode (ASTSM) Control algorithm is ap...
متن کاملRobust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
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: Robotics
سال: 2018
ISSN: 2218-6581
DOI: 10.3390/robotics7010013