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A robust adaptive terminal sliding mode control for rigid robotic manipulators
journal contribution
posted on 2023-05-16, 12:00 authored by Man, Z, O'Day, MS, Yu, XIn this paper, a robust adaptive terminal sliding mode controller is developed for n-link rigid robotic manipulators with uncertain dynamics. An MIMO terminal sliding mode is defined for the error dynamics of a closed loop robot control system, and an adaptive mechanism is introduced to estimate the unknown parameters of the upper bounds of system uncertainties in the Lyapunov sense. The estimates are then used as controller parameters so that the effects of uncertain dynamics can be eliminated and a finite time error convergence in the terminal sliding mode can be guaranteed. Also, a useful bounded property of the derivative of the inertial matrix is explored, the convergence rate of the terminal sliding variable vector is investigated, and an experiment using a five bar robotic manipulator is carried out in support of the proposed control scheme.
History
Publication title
Journal of intelligent and robotic systemsVolume
24Pagination
23-41ISSN
0921-0296Department/School
School of EngineeringPublisher
Kluwer Academic PublishersPlace of publication
The NetherlandsRepository Status
- Restricted