Name
Title | ||
|---|---|---|
Continuous Terminal Sliding-Mode Control for FJR Subject to Matched/Mismatched Disturbances |
Abstract | ||
|---|---|---|
A robust finite-time control (FTC) framework using continuous terminal sliding-mode control (SMC) and high-order sliding-mode observer (HOSMO) is discussed to realize the trajectory tracking of flexible-joint robots in this article. Control performances of the robots always suffer from unknown matched and mismatched time-varying disturbances. Traditional SMC exists with a chattering phenomenon and cannot cope with mismatched time-varying disturbances due to its inherent structure property. For this reason, two HOSMOs are devised to estimate the time-varying disturbances on the link and motor side, respectively. Then, by fusing the states and disturbance estimations into a novel terminal sliding-mode surface, a continuous robust FTC scheme is developed. The proposed control strategy can not only handle both matched and mismatched time-varying disturbances but also obtain a finite-time convergence performance. The rigorous finite-time stability analysis of the closed-loop system under the proposed control method is guaranteed. The results are illustrated to verify the effectiveness and robustness of the proposed design approach. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1109/TCYB.2021.3066593 | IEEE Transactions on Cybernetics |
Keywords | DocType | Volume |
Algorithms | Journal | 52 |
Issue | ISSN | Citations |
10 | 2168-2267 | 0 |
PageRank | References | Authors |
0.34 | 25 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Huiming Wang | 1 | 1665 | 103.97 |
| Qiyao Zhang | 2 | 0 | 0.34 |
| Zhenxing Sun | 3 | 0 | 1.01 |
| Xianlun Tang | 4 | 7 | 4.86 |
| I-Ming Chen | 5 | 567 | 87.28 |