A robust adaptive terminal sliding mode control for rigid robotic manipulators
type: Item
instance of: scholarly article
title: A robust adaptive terminal sliding mode control for rigid robotic manipulators
zbMATH Open document ID: 0963.93065
DOI: 10.1023/A:1008058114520
author: Zhihong Man
author: Mike O'Day
author: Xinghuo Yu
published in: Journal of Intelligent \& Robotic Systems
publication date: 2001-06-25T00:00:00Z
review text: A robust adaptive terminal sliding mode control for rigid robotic manipulators is proposed. The main contributions are that an adaptive terminal sliding mode control technique is implemented for \(n\)-link rigid robotic manipulators. The bounded property of the norm of \(\dot M(q)\) (\(M\) is the inertia matrix) is investigated in detail; it is useful in the design of the adaptive sliding mode controller. The prior knowledge of the upper bounds of the system uncertainties is not required in the controller design, and an adaptive mechanism is introduced to estimate the parameters of the system uncertainty bounds. The estimates are then used as controller parameters such that the effects of the system uncertainties can be eliminated and finite time error convergence can be guaranteed. The experimental results have shown that not only good tracking performance has been obtained, but also the amplitude of the control inputs has been considerably reduced.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93B12
Mathematics Subject Classification ID: 93C40
zbMATH DE Number: 1343468
zbMATH Keywords: small control
zbMATH Keywords: Lyapunov stability
zbMATH Keywords: estimation of bounds
zbMATH Keywords: robust adaptive terminal sliding mode control
zbMATH Keywords: rigid robotic manipulators
zbMATH Keywords: tracking
reviewed by: Bozhidar Cheshankov
MaRDI profile type: Publication
description: scientific article; zbMATH DE number 1343468