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Continuous finite-time control for robotic manipulators with terminal sliding mode |
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| Authors: | Shuanghe Yu [Author Vitae] Xinghuo Yu [Author Vitae] |
| Affiliation: | a School of Automation and Electrical Engineering, Dalian Maritime University, Dalian 116026, China b School of Electrical and Computer Engineering, RMIT University, Melbourne, VIC 3001, Australia c Department of Mechanical Engineering, Monash University, Clayton, VIC 3800, Australia d School of Computer Engineering, Nanyang Technological University, Singapore |
| Abstract: | A continuous finite-time control scheme for rigid robotic manipulators is proposed using a new form of terminal sliding modes. The robustness of the controller is established using the Lyapunov stability theory. Theoretical analysis and simulation results show that faster and high-precision tracking performance is obtained compared with the conventional continuous sliding mode control method. |
| Keywords: | Finite-time stability Terminal sliding mode Fractional power Robustness High precision |
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