A new terminal sliding mode control for robotic manipulators
نویسندگان
چکیده
In this paper, a new terminal sliding mode control approach is developed for robotic manipulators. Unlike traditional terminal sliding mode control, the proposed approach can make system states converge to zero in a finite time without requiring explicitly using of system dynamic model. Theoretical analysis and simulation results are presented to illustrate the proposed approach. The controller parameter tuning method is also proposed.
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عنوان ژورنال:
- Int. J. Control
دوره 82 شماره
صفحات -
تاریخ انتشار 2009