Robust global fast terminal sliding mode controller for rigid robotic manipulators

IEEE Region 10 Annual International Conference, Proceedings/TENCON

Volumn 3, Issue , 2002, Pages 1335-1338

  Yu, Shuanghe ^a   Yu, Xinghuo ^b  

^a CENTRAL QUEENSLAND UNIVERSITY   (Australia)

^b RMIT UNIVERSITY   (Australia)

Author keywords

Finite time convergence; Terminal reaching law; Terminal sliding mode

Indexed keywords

ERROR DETECTION; MANIPULATORS; ROBOTICS;

ROBOTIC MANIPULATORS;

SLIDING MODE CONTROL;

EID: 0037999047     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (4)

1. M. Spong, "On the robust control of robot manipulator", IEEE Transactions on Automatic Control, Vol.37, No.11, pp 1782-1786, 1992.
2. X. Yu and Z. Man, "Model reference adaptive control systems with terminal sliding modes", International Journal of Control, Vol.64, No.6, pp 1165-1176, 1996.
3. S. T. Venkataraman and S. Gulati, "Control of nonlinear systems using terminal sliding modes," Transactions of the ASME Journal of Dynamic Systems, Measurement and Control, Vol.115, No.3, pp 554-560, Sep. 1993.
4. Y. Tang, "Terminal sliding mode control for rigid robots," Automatica, Vol.34, No.1, pp 51-56, 1998.