Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators

作     者：Mezghani Ben Romdhane Neila Damak Tarak 

作者机构：Industrial Processes Control UnitNational Engineering School of SfaxUniversity of Sfax 

出 版 物：《International Journal of Automation and computing》 (国际自动化与计算杂志（英文版）)

年 卷 期：2011年第8卷第2期

页      面：215-220页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

主　　题：Terminal sliding mode sliding mode control adaptive control of robot robust control Lyapunov method. 

摘      要：In order to apply the terminal sliding mode control to robot manipulators,prior knowledge of the exact upper bound of parameter uncertainties,and external disturbances is ***,this bound will not be easily determined because of the complexity and unpredictability of the structure of uncertainties in the dynamics of the *** resolve this problem in robot control,we propose a new robust adaptive terminal sliding mode control for tracking problems in robotic *** applying this adaptive controller,prior knowledge is not required because the controller is able to estimate the upper bound of uncertainties and ***,the proposed controller can eliminate the chattering effect without losing the robustness *** stability of the control algorithm can be easily verified by using Lyapunov *** proposed controller is tested in simulation on a two-degree-of-freedom robot to prove its effectiveness.