期刊
AUTOMATICA
卷 41, 期 11, 页码 1957-1964出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2005.07.001
关键词
finite-time stability; terminal sliding mode; fractional power; robustness; high precision
A continuous finite-time control scheme for rigid robotic manipulators is proposed using a new form of terminal sliding modes. The robustness of the controller is established using the Lyapunov stability theory. Theoretical analysis and simulation results show that faster and high-precision tracking performance is obtained compared with the conventional continuous sliding mode control method. (c) 2005 Elsevier Ltd. All rights reserved.
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