期刊
INTERNATIONAL JOURNAL OF CONTROL
卷 82, 期 10, 页码 1804-1813出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207170902769928
关键词
terminal sliding mode control; finite-time stability; robot control
资金
- National Natural Science Foundation of China [60825302, 60534020, 60774015]
- High Technology Research and Development Program [2006AA04Z173]
- Specialised Research Fund for the Doctoral Program of Higher Education of China [20060248001]
- Shanghai Natural Science Foundation [07JC14016]
In this study, a new terminal sliding mode control approach is developed for robotic manipulators based on finite-time stability theory and differential inequality principle. The corresponding stability analysis is presented to lay a foundation for theoretical understanding to the underlying design issue as well as safe operation for real system. An illustrative example of a two-link rigid robotic manipulator is presented to validate effectiveness of the proposed approach.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据