A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators
- 1 January 1994
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 39 (12) , 2464-2469
- https://doi.org/10.1109/9.362847
Abstract
In this paper, a robust multi-input/multi-output (MIMO) terminal sliding mode control technique is developed for n-link rigid robotic manipulators. It is shown that an MIMO terminal switching plane variable vector is first defined, and the relationship between the terminal switching plane variable vector and system error dynamics is established. By using the MIMO terminal sliding mode technique and a few structural properties of rigid robotic manipulators, a robust controller can then be designed so that the output tracking error can converge to zero in a finite time, and strong robustness with respect to large uncertain dynamics can be guaranteed. It is also shown that the high gain of the terminal sliding mode controllers can be significantly reduced with respect to the one of the linear sliding mode controller where the sampling interval is nonzeroKeywords
This publication has 17 references indexed in Scilit:
- An improved variable structure model‐following control for robotic manipulatorsInternational Journal of Adaptive Control and Signal Processing, 1993
- An adaptive variable structure model following control design for robot manipulatorsIEEE Transactions on Automatic Control, 1991
- Robot non‐linearity bounds evaluation techniques for robust controlInternational Journal of Adaptive Control and Signal Processing, 1990
- Globally stable robust tracking of nonlinear systems using variable structure control and with an application to a robotic manipulatorIEEE Transactions on Automatic Control, 1990
- A new controller design for manipulators using the theory of variable structure systemsIEEE Transactions on Automatic Control, 1988
- A variable structure model following control design for robotics applicationsIEEE Journal on Robotics and Automation, 1988
- Two approaches to hyperplane design in multivariable variable structure control systemsInternational Journal of Control, 1986
- Adaptive model following control of nonlinear robotic systemsIEEE Transactions on Automatic Control, 1985
- Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†International Journal of Control, 1983
- Design of variable structure model-following control systemsIEEE Transactions on Automatic Control, 1978