The control problem is formulated into a singularly perturbed form which contains a slow rigid robot dynamics and a fast SEA dynamics. To achieve high-precision tracking without serious control chattering, a second-order sliding mode control (SMC) law is proposed such that the equilibrium point of...
Fuzzy Logic Based Continuous Sliding Mode Control of Multi link Flexible Robot基于模糊逻辑的多连杆柔性机器人连续滑动模控制 王立,徐建闽 Keywords: flexible robot,fuzzy control,robustness,sliding mode control柔性机器人,模糊控制,鲁棒性,滑动模控制 Full-Text Cite this paper Add to My Lib Abstract: 采...
A new continuous sliding mode control approach is introduced with the dedicated mathematical tools. A time-delay modification/approximation of sign function is proposed, and it is shown that by substituting this new "sign" realization in the conventional sliding mode algorithms the main advantages of...
This article develops a new output feedback tracking control scheme for uncertain robot manipulators with only position measurements. Unlike the conventional sliding mode controller, a quasi-continuous second-order sliding mode controller (QC2C) is first designed. Although the QC2C produces continuous co...
Quasicontinuous high-order sliding-mode controllers A universal finite-time-convergent controller is developed capable to control the output /spl sigma/ of any uncertain SISO system of a known permanent rela... A Levant 被引量: 0发表: 2003年 Quasi-continuous high-order sliding mode controller and...
摘要: We investigate the problem of sliding mode control for continuous-time weakly coupled linear systems with external disturbances. This is the first stu…关键词: Weakly coupled systems Sliding mode control External disturbances Chattering phenomena ...
Continuous-time and discrete-time sliding mode control accomplished using a computer J.P.F. Garcia, J.M.S. Ribeiro, J.J.F. Silva and E.S. Martins Abstract: A computer-based sliding mode control (SMC) is analysed. The control law is accomplished using a computer and A=D and D=A ...
Such a robust tracking control is composed of a finite-time sliding-mode observer (SMO) and cascaded continuous SMCs providing uniform finite-time stability and uniform exponential stability, for the vertical and yaw tracking error, and for the horizontal tracking error, respectively; despite the ...
A continuous nonsingular terminal sliding mode control approach is proposed for mismatched disturbance attenuation. A novel nonlinear dynamic sliding mode surface is designed based on a finite-time disturbance observer. The time taken to reach the desired setpoint from any initial states under mismatched...
For the high-accuracy tracking control purpose of cable-driven manipulators under complex lumped uncertainties, a novel continuous nonsingular fast terminal sliding mode (CNFTSM) control scheme using a modified super-twisting algorithm (STA) is proposed and investigated in this paper. The proposed meth...