期刊
ISA TRANSACTIONS
卷 90, 期 -, 页码 41-51出版社
ELSEVIER SCIENCE INC
DOI: 10.1016/j.isatra.2018.12.046
关键词
Adaptive tuning; Second-order fast nonsingular terminal sliding mode; Robotic manipulator; Trajectory tracking; Lyapunov stability
资金
- National Natural Science Foundation of China [61873061, 61473082]
- Qing Lan Project
- PAPD (Jiangsu Province, China)
This paper presents an adaptive chattering-free sliding mode controller for trajectory tracking of robotic manipulators in the presence of external disturbances and inertia uncertainties. To achieve fast convergence and desirable tracking precision, a second-order fast nonsingular terminal sliding mode (SOFNTSM) controller is designed to guarantee system performance and robust stability. Chattering is eliminated using continuous control law due to high-frequency switching terms contained in the first derivative of actual control signals. Meanwhile, uncertainties are compensated by introducing the adaptive technique, whose prior knowledge about upper bound is not required. Finally, simulation results validate the effectiveness of the proposed control scheme. (C) 2019 ISA. Published by Elsevier Ltd. All rights reserved.
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