A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators

Abstract

In this paper, a robust multi-input/multi-output (MIMO) terminal sliding mode control technique is developed for d i n k 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 nonzero.

A fuzzy adaptive sliding mode controller for uncertain nonlinear multi motor systems

“…The neural network technique based control law have been proposed by Yaoji Me et al (2013) (see [1][2][3][4][5][6][7][8][9]). However, it is hard to find the equivalent networks as well as corresponding learning rules.…”

Disturbance observer-based second order sliding mode attitude tracking control for flexible spacecraft

“…It achieves faster convergence and better disturbance rejection than asymptotic or exponential stability. Terminal sliding mode control (TSMC) has offered a practical way to obtain convergence of system state in finite time [20,31]. TSMC has been applied in [12,27] to deal with spacecraft attitude control problems.…”

Finite‐Time Tracking Control for a Class of MIMO Nonlinear Systems with Unknown Asymmetric Saturations

“…Consider the uncertain MIMO nonlinear system (8), if the finite-time disturbance observer is designed as (9)- (12), the augmented disturbance approximation error of the proposed terminal sliding mode disturbance observer will converge to zero in finite time.…”

“…In [12], a robust TSMC strategy was developed for rigid robotic manipulators in which an MIMO terminal switching plane variable vector was first defined and the relationship between the terminal switching plane variable vector and system error dynamics was established. In [13], a fast terminal dynamics was proposed in the design of the sliding mode control for single-input single-output nonlinear dynamical systems to improve the convergence rate during reaching and sliding phase.…”