Showing papers on "Terminal sliding mode published in 1994"
TL;DR: A robust MIMO terminal sliding mode technique and a few structural properties of rigid robotic manipulators are developed 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.
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. >
853 citations
01 Jan 1994
TL;DR: In this article, a robust multi-input/multi-output (MIMO) terminal sliding mode control technique is developed for dink rigid robotic manipulators, and the relationship between the terminal switching plane variable vector and system error dynamics is established.
Abstract: Abstruct- In this paper, a robust multi-input/multi-output (MIMO) terminal sliding mode control technique is developed for dink 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.
7 citations