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.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Young, K.-K. D.: A variable structure model following control design for robotics applications, IEEE Trans. Automat. Control 33 (1988), 556–561.
Slotine, J.-J. E. and Li, W.: Applied Nonlinear Control, Prentice-Hall, Englewood Cliffs, NJ, 1991.
Slotine, J.-J. E. and Sastry, S. S.: Tracking control of nonlinear system using sliding surface with application to robotic manipulators, Internat. J. Control 38 (1983), 465–492.
Zhihong, M., Paplinski, A. P., and Wu, H. R.: A robust terminal sliding mode control scheme for rigid robotic manipulators, IEEE Trans. Automat. Control 39 (1994), 2464–2469.
Zhihong, M. and Palaniswami, M.: An improved variable structure model following control for robotic manipulators, Internat. J. Adapt. Control Signal Process. 7 (December 1993), 539–562.
Zhihong, M. and Palaniswami, M.: Robust tracking control for rigid robotic manipulators, IEEE Trans. Automat. Control 39 (1994), 154–159.
Zak, M.: Terminal attractors for addressable memory in neural network, Phys. Lett. A 133(1, 2) (1988), 18–22.
Zak, M.: Terminal attractors in neural networks, Neural Networks 2 (1989), 259–274.
Leung, T. P., Zhou, Q. J., and Su, C. Y.: An adaptive variable structure model following control design for robotic manipulators, IEEE Trans. Automat. Control 36 (1991), 347–352.
Mills, J. K. and Lockhorst, D. M.: Stability and control of robotic manipulators during contact/non-contact transition, IEEE Trans. Robotics Automat. 9(3) (1993), 335–345.
Nicasia, S. and Tomei, P.: Robot control by using joint position measurements, IEEE Trans. Automat. Control 35(9) (1990), 1058–1061.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Zhihong, M., O'Day, M. & Yu, X. A Robust Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators. Journal of Intelligent and Robotic Systems 24, 23–41 (1999). https://doi.org/10.1023/A:1008058114520
Issue Date:
DOI: https://doi.org/10.1023/A:1008058114520