A Robust Terminal Sliding Mode Adaptive Control for Robot Manipulators

Abstract:

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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.

Info:

Periodical:

Advanced Materials Research (Volumes 204-210)

Edited by:

Helen Zhang, Gang Shen and David Jin

Pages:

1978-1983

DOI:

10.4028/www.scientific.net/AMR.204-210.1978

Citation:

Z. H. Qin and X. X. He, "A Robust Terminal Sliding Mode Adaptive Control for Robot Manipulators", Advanced Materials Research, Vols. 204-210, pp. 1978-1983, 2011

Online since:

February 2011

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Price:

$35.00

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