Brief Non-singular terminal sliding mode control of rigid manipulators

Authors:
Yong Feng;Xinghuo Yu;Zhihong Man
Affiliations:
Department of Electrical Engineering, Harbin Institute of Technology, Harbin 150006, People's Republic of China;School of Electrical and Computer Engineering, Royal Melbourne Institute of Technology University, GPO Box 2476V Melbourne, Vic. 3001, Australia;School of Computer Engineering, Nanyang Technological University, Singapore
Venue:
Automatica (Journal of IFAC)
Year:
2002

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Abstract

This paper presents a global non-singular terminal sliding mode controller for rigid manipulators. A new terminal sliding mode manifold is first proposed for the second-order system to enable the elimination of the singularity problem associated with conventional terminal sliding mode control. The time taken to reach the equilibrium point from any initial state is guaranteed to be finite time. The proposed terminal sliding mode controller is then applied to the control of n-link rigid manipulators. Simulation results are presented to validate the analysis.