A simple non-singular terminal sliding mode control for uncertain robot manipulators. (July 2019)

• Record Type: Journal Article
• Authors: Zhang, Liyin; Su, Yuxin; Wang, Zeng
• Is Part Of: Proceedings of the Institution of Mechanical Engineers. Volume 233:Number 6(2019)
• Page Start: 666
• Page End: 676
• Publication Date: 2019-07
• Subjects: Robot manipulators -- terminal sliding mode control -- finite-time stability -- robust control -- uncertain systems; Mechanical engineering -- Periodicals; Automatic control -- Periodicals; Systems engineering -- Periodicals; 621.3
• DOI: 10.1177/0959651818806797
• Languages: English
• ISSNs: 0959-6518

Abstract

This article presents an improved robust tracking control for uncertain robot manipulators. An approximate terminal sliding mode control is proposed by integrating a terminal sliding surface with a novel nonlinear function. Lyapunov stability theory is employed to prove the global approximate finite-time stability ensuring that the tracking errors can globally converge to an arbitrary small ball centred at the origin within a finite time and thereafter arrive at the origin asymptotically. The benefits of this integrated design are that it can ensure fast transient and high steady-state tracking precision. Extensive simulations and experimental results are presented to demonstrate the effectiveness and improved performance of the proposed approach.