期刊
INTERNATIONAL JOURNAL OF CONTROL
卷 75, 期 5, 页码 352-359出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207170110112241
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In this paper a terminal sliding-mode adaptive control scheme for robotic manipulators designed following an energy-based approach is presented. The control comprises two basic terms: a composite adaptive term which implements a feedback law for compensating the modelled dynamics and a non-linear sliding-mode term for overcoming the unmodelled dynamics and perturbations. The resulting closed-loop system is proved to be stable and it is also shown that the trajectory-tracking error converges to zero in finite time. Moreover, an upper bound of this error convergence time is calculated. Finally, the design is evaluated by means of simulations.
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