Responsive AQM algorithm based on terminal sliding mode technique

2011 ◽  
Author(s):  
Hao Wang ◽  
Yizhe Li ◽  
Bo Wang
Keyword(s):  
Sliding Mode ◽  
Terminal Sliding Mode ◽  
Mode Technique ◽  
Sliding Mode Technique

A Robust Terminal Sliding Mode Adaptive Control for Robot Manipulators

2011 ◽  
Vol 204-210 ◽  
pp. 1978-1983
Author(s):  
Zhen Hua Qin ◽  
Xiong Xiong He
Keyword(s):  
Sliding Mode ◽  
Robot Manipulator ◽  
Design Method ◽  
Estimation Error ◽  
Parameters Estimation ◽  
Terminal Sliding Mode ◽  
Internal Parameters ◽  
Robust Adaptive ◽  
Mode Technique ◽  
Sliding Mode Technique

A robust adaptive terminal sliding mode control(SMC) algorithm is developed for the trajectory control of the rigid manipulators. The upper bounds of uncertain nonlinearities and unknown internal parameters of rigid manipulators are estimated through an adaptive mechanism and used for the main part of the controller, and additional part based terminal sliding mode technique is used to compensate the bounded parameters estimation error and achieve robustness of the control system. Continuous sliding mode controller is developed by replacing the signum functions with saturation functions to reduce the chattering that traditional sliding mode have common. The proposed design method is evaluated on a 2-DOF robot manipulator to demonstrate the effectiveness of the theory.

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