Adaptive fuzzy global coupled nonsingular fast terminal sliding mode control of n-rigid-link elastic-joint robot manipulators in presence of uncertainties

2022 ◽  
Vol 163 ◽  
pp. 108165
Author(s):  
Saeed Zaare ◽  
Mohammad Reza Soltanpour
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Elastic Joint ◽  
Rigid Link ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

A nonsingular fast terminal sliding mode control with an exponential reaching law for robot manipulators

2018 ◽  
Vol 233 (5) ◽  
pp. 1575-1587 ◽  
Author(s):  
Liyin Zhang ◽  
Yuxin Su ◽  
Haihong Wang
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Reaching Law ◽  
Mode Control ◽  
Fast Terminal Sliding Mode ◽  
Exponential Reaching Law

This paper presents an improved robust tracking control for uncertain robot manipulators. An approximate fast terminal sliding mode control is proposed by integrating a nonsingular fast terminal sliding surface with an exponential reaching law. Lyapunov stability theory is employed to prove the global approximate finite-time stability ensuring that the tracking errors converge to an arbitrary small ball centered at zero within a finite time and thereafter arrive at zero asymptotically. The benefits of this integrated design are that it can ensure faster transient and higher steady-state tracking precision with lower chattering. Simulations and experiments are presented to demonstrate the effectiveness and improved performances of the proposed approach.

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