Terminal sliding mode control for rigid robots
Automatica (Journal of IFAC)
Bounded output feedback tracking control of fully actuated Euler-Lagrange systems
Systems & Control Letters
Journal of Intelligent and Robotic Systems
Brief paper: A global adaptive learning control for robotic manipulators
Automatica (Journal of IFAC)
Revising the robust-control design for rigid robot manipulators
IEEE Transactions on Robotics
Global finite-time inverse tracking control of robot manipulators
Robotics and Computer-Integrated Manufacturing
Brief Non-singular terminal sliding mode control of rigid manipulators
Automatica (Journal of IFAC)
Continuous finite-time control for robotic manipulators with terminal sliding mode
Automatica (Journal of IFAC)
Robotics and Computer-Integrated Manufacturing
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This paper addresses the finite-time tracking of robot manipulators in the presence of actuator saturation. The commonly-used proportional-derivative (PD) plus dynamics compensation (PD+) scheme is extended by replacing the linear errors in the PD+ scheme with saturated non-smooth but continuous exponential-like ones. Advantages of the proposed controller include semi-global finite-time tracking stability featuring faster transient and high-precision performances and the ability to ensure that actuator constraints are not violated. This is accomplished by selecting control gains a priori, removing the possibility of actuator failure due to excessive torque input levels. Lyapunov's direct method and finite-time stability are employed to prove semi-global finite-time tracking. Simulations performed on a three degree-of-freedom (DOF) manipulator are provided to illustrate the effectiveness and the improved performance of the formulated algorithm.