Zhang, B;
Yang, X;
Zhao, D;
Spurgeon, SK;
Yan, X;
(2017)
Sliding Mode Control for Nonlinear Manipulator Systems.
IFAC-PapersOnLine
, 50
(1)
pp. 5127-5132.
10.1016/j.ifacol.2017.08.781.
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Abstract
A sliding mode control is developed for nonlinear manipulator systems. An improved version of the exponential reaching law is presented to ensure the states converge to the sliding surface in finite time. In the presence of system uncertainty and external disturbances, the system states converge to a small region centered at the origin within a finite time and thereafter will asymptotically converge to the equilibrium point. The robustness and convergence properties of the proposed approach are demonstrated from both the theoretical point of view and also using simulation studies.
| Type: | Article |
|---|---|
| Title: | Sliding Mode Control for Nonlinear Manipulator Systems |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1016/j.ifacol.2017.08.781 |
| Publisher version: | https://doi.org/10.1016/j.ifacol.2017.08.781 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Nonlinear sliding mode, manipulator system, tracking error, exponential reaching law, robustness, residual set |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10027528 |
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