Continuous finite-time control for robotic manipulators with terminal sliding mode

Authors:
Shuanghe Yu;Xinghuo Yu;Bijan Shirinzadeh;Zhihong Man
Affiliations:
School of Automation and Electrical Engineering, Dalian Maritime University, Dalian 116026, China;School of Electrical and Computer Engineering, RMIT University, Melbourne, VIC 3001, Australia;Department of Mechanical Engineering, Monash University, Clayton, VIC 3800, Australia;School of Computer Engineering, Nanyang Technological University, Singapore
Venue:
Automatica (Journal of IFAC)
Year:
2005

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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.