2020
DOI: 10.1002/asjc.2369
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Observer‐based adaptive second‐order non‐singular fast terminal sliding mode controller for robotic manipulators

Abstract: In this paper, a second-order non-singular fast terminal sliding mode controller is proposed for robotic manipulators in the presence of uncertainties and disturbances. Adaptive control is used to obtain robustness to system uncertainties and disturbances. The improved high-gain observer is designed to estimate the speed information, which makes the controller more applicable in practice. Theorem proof and simulations demonstrate the effectiveness of the proposed controller.

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Cited by 21 publications
(19 citation statements)
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“…In order to prove the system stability we have introduced the following lemma consider the LM model in (5) under the proposed controller (9) with iteration learning term in (10), then a zero asymptotic convergence of the tracking error (6) will be achieved. Select the following candidate Lyapunov function.…”
Section: System Stability and Convergence Analysismentioning
confidence: 99%
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“…In order to prove the system stability we have introduced the following lemma consider the LM model in (5) under the proposed controller (9) with iteration learning term in (10), then a zero asymptotic convergence of the tracking error (6) will be achieved. Select the following candidate Lyapunov function.…”
Section: System Stability and Convergence Analysismentioning
confidence: 99%
“…An effective and powerful classical nonlinear controller was found in the literature to preserve the system stability in the presence of disturbances and uncertainties namely sliding mode controller (SMC). Owing to its robustness and fast convergence against system uncertainties and disturbances, SMC has been broadly utilized in several industrial applications such as robotic hand [10], quadrotor unmanned aerial vehicle (UAV)…”
Section: Introductionmentioning
confidence: 99%
“…η +Ĝ η (η). The SMC based control design suffers from the chattering phenomenon, which leads to a drop in the AUV control performance [93]. Ref.…”
Section: η +D η (υ η)mentioning
confidence: 99%
“…For the chattering problem caused by SMC, a large number of effective studies have been done by a lot of experts; the boundary layer method [23], fast terminal SMC [24,25], high-order SMC [26,27], the control method based on reaching law [28,29], and so on are presented. e boundary layer function was adopted in [20], the saturation function in the boundary layer function was adopted instead of the sign function, and the system states were kept on sliding mode surfaces by setting the boundary coefficient to reduce the chattering.…”
Section: Introductionmentioning
confidence: 99%