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Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators

Neila, Mezghani Ben Romdhane ; Tarak, Damak

International journal of automation and computing, 2011-05, Vol.8 (2), p.215-220 [Periódico revisado por pares]

Heidelberg: Institute of Automation, Chinese Academy of Sciences

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  • Título:
    Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators
  • Autor: Neila, Mezghani Ben Romdhane ; Tarak, Damak
  • Assuntos: Adaptive control systems ; CAE) and Design ; Computer Applications ; Computer-Aided Engineering (CAD ; Control ; Engineering ; Lyapunov ; Manipulators ; Mechatronics ; Robot arms ; Robot control ; Robotics ; Robots ; Sliding mode control ; Terminals ; Uncertainty ; 参数不确定性 ; 控制模 ; 机械手 ; 终端滑模控制 ; 自由度机器人 ; 自适应控制器 ; 鲁棒自适应
  • É parte de: International journal of automation and computing, 2011-05, Vol.8 (2), p.215-220
  • Notas: 11-5350/TP
    In order to apply the terminal sliding mode control to robot manipulators,prior knowledge of the exact upper bound of parameter uncertainties,and external disturbances is necessary.However,this bound will not be easily determined because of the complexity and unpredictability of the structure of uncertainties in the dynamics of the robot.To resolve this problem in robot control,we propose a new robust adaptive terminal sliding mode control for tracking problems in robotic manipulators.By applying this adaptive controller,prior knowledge is not required because the controller is able to estimate the upper bound of uncertainties and disturbances.Also,the proposed controller can eliminate the chattering effect without losing the robustness property.The stability of the control algorithm can be easily verified by using Lyapunov theory.The proposed controller is tested in simulation on a two-degree-of-freedom robot to prove its effectiveness.
    Terminal sliding mode; sliding mode control; adaptive control of robot; robust control; Lyapunov method.
    Mezghani Ben Romdhane Neila Damak Tarak Industrial Processes Control Unit,National Engineering School of Sfax,University of Sfax,BP 1173 3038,Sfax Tunisia
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  • Descrição: In order to apply the terminal sliding mode control to robot manipulators,prior knowledge of the exact upper bound of parameter uncertainties,and external disturbances is necessary.However,this bound will not be easily determined because of the complexity and unpredictability of the structure of uncertainties in the dynamics of the robot.To resolve this problem in robot control,we propose a new robust adaptive terminal sliding mode control for tracking problems in robotic manipulators.By applying this adaptive controller,prior knowledge is not required because the controller is able to estimate the upper bound of uncertainties and disturbances.Also,the proposed controller can eliminate the chattering effect without losing the robustness property.The stability of the control algorithm can be easily verified by using Lyapunov theory.The proposed controller is tested in simulation on a two-degree-of-freedom robot to prove its effectiveness.
  • Editor: Heidelberg: Institute of Automation, Chinese Academy of Sciences
  • Idioma: Chinês;Inglês
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