International Journal of Robust and Nonlinear Control · 2010 · 756 citations · 21 references
EngineeringMechanical EngineeringRobotics EngineeringRobot ControlRobot DynamicsRoboticsControl TheoryDynamic ControlManipulator ControlManipulator DynamicsRobust ControlSingularity AnalysisControl PhaseConvergence Rate AnalysisFinite-time ControlNonlinear Dynamical SystemsNonlinear SystemsNumerical SimulationRobust Nonlinear ControlSliding Mode Control
Abstract This paper investigates fast finite‐time control of nonlinear dynamics using terminal sliding‐mode (TSM) scheme. Some new norms of fast TSM strategies are proposed, and a faster convergence rate is established in comparison with the conventional fast TSM. A novel concept of nonsingular fast TSM, which is able to avoid the possible singularity during the control phase, is adopted in the robust high‐precision control of uncertain nonlinear systems. Numerical simulation on a two‐link rigid robot manipulator demonstrates the effectiveness of the proposed algorithm. Copyright © 2010 John Wiley & Sons, Ltd.
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Continuous finite-time control for robotic manipulators with terminal sliding mode
Shuanghe Yu, Xinghuo Yu, Bijan Shirinzadeh et al. · Automatica · 2005 · 2.6K citations · Full text
Engineering, Mechanical Engineering, Robotics Engineering +16