Showing papers on "Terminal sliding mode published in 1999"

Terminal sliding mode control of second‐order nonlinear uncertain systems

Abstract: In this paper, a terminal sliding mode control scheme is proposed for second-order nonlinear uncertain systems. By using a function augmented sliding hyperplane, it is guaranteed that the output tracking error converges to zero in finite time which can be set arbitrarily. In addition, the proposed scheme eliminates the reaching phase problem so that the closed-loop system always shows the invariance property to parameter uncertainties. Copyright © 1999 John Wiley & Sons, Ltd.

A Robust Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators

Abstract: In this paper, a robust adaptive terminal sliding mode controller is developed for n-link rigid robotic manipulators with uncertain dynamics An MIMO terminal sliding mode is defined for the error dynamics of a closed loop robot control system, and an adaptive mechanism is introduced to estimate the unknown parameters of the upper bounds of system uncertainties in the Lyapunov sense The estimates are then used as controller parameters so that the effects of uncertain dynamics can be eliminated and a finite time error convergence in the terminal sliding mode can be guaranteed Also, a useful bounded property of the derivative of the inertial matrix is explored, the convergence rate of the terminal sliding variable vector is investigated, and an experiment using a five bar robotic manipulator is carried out in support of the proposed control scheme

On global stabilization of nonlinear dynamical systems

Abstract: The global stabilization of nonlinear minimum phase systems with partially linear strict nonminimum phase composite dynamics is discussed in this chapter using only the state variables of the linear composite part. The concept of the terminal sliding mode is employed for the control design. The advantage of the approach is that the finite time convergence of the proposed control strategy enables elimination of the effect of asymptotic convergence on the nonlinear systems, hence the peaking phenomenon does not occur. The global stabilization of the nonlinear systems under the developed controller is guaranteed.