Terminal sliding mode

About: Terminal sliding mode is a research topic. Over the lifetime, 2643 publications have been published within this topic receiving 37658 citations.

Continuous finite-time control for robotic manipulators with terminal sliding modes

Abstract: A continuous finite-time control scheme for rigid robotic manipulators is proposed using a new form of terminal sliding modes. The robustness of the controller is established using the Lyapunov stability theory. Theoretical analysis and simulation results show that faster and high-precision tracking performance is obtained compared with the conventional continuous sliding mode control method.

Brief Non-singular terminal sliding mode control of rigid manipulators

Abstract: This paper presents a global non-singular terminal sliding mode controller for rigid manipulators. A new terminal sliding mode manifold is first proposed for the second-order system to enable the elimination of the singularity problem associated with conventional terminal sliding mode control. The time taken to reach the equilibrium point from any initial state is guaranteed to be finite time. The proposed terminal sliding mode controller is then applied to the control of n-link rigid manipulators. Simulation results are presented to validate the analysis.

A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators

Abstract: In this paper, a robust multi-input/multi-output (MIMO) terminal sliding mode control technique is developed for n-link rigid robotic manipulators. It is shown that an MIMO terminal switching plane variable vector is first defined, and the relationship between the terminal switching plane variable vector and system error dynamics is established. By using the MIMO terminal sliding mode technique and a few structural properties of rigid robotic manipulators, a robust controller can then be designed so that the output tracking error can converge to zero in a finite time, and strong robustness with respect to large uncertain dynamics can be guaranteed. It is also shown that the high gain of the terminal sliding mode controllers can be significantly reduced with respect to the one of the linear sliding mode controller where the sampling interval is nonzero. >

Fast terminal sliding-mode control design for nonlinear dynamical systems

Abstract: A fast terminal dynamics is proposed and used in the design of the sliding-mode control for single-input single-output nonlinear dynamical systems. The inherent dynamic properties of the fast terminal sliding modes are explored and conditions to ensure its applicability for control designs are obtained.

Nonsingular fast terminal sliding-mode control for nonlinear dynamical systems

Abstract: This paper investigates fast finite-time control of nonlinear dynamics using terminal sliding-mode (TSM) scheme. Some new norms of fast TSM strategies are proposed, and a faster convergence rate is established in comparison with the conventional fast TSM. A novel concept of nonsingular fast TSM, which is able to avoid the possible singularity during the control phase, is adopted in the robust high-precision control of uncertain nonlinear systems. Numerical simulation on a two-link rigid robot manipulator demonstrates the effectiveness of the proposed algorithm. Copyright © 2010 John Wiley & Sons, Ltd.