A Finite time control method for flexible manipulator based on dynamic sliding mode
Article No.: 2, Pages 1 - 6
Abstract
In order to deal with the defect of slow convergence rate and singularity of classical sliding mode control and finite time control in flexible robotic arm control problems, a finite time control method based on dynamic sliding mode surface is designed to realize the tracking of reference signals. Firstly, the classical sliding mode surface is improved by introducing the dynamic sliding mode means to update the sliding mode parameters in real time to achieve the finite time convergence of the system on the sliding mode surface, and the magnified sliding mode parameters are updated in real time based on the parametric number of the error angle and the fractional order convergence rate of the system is achieved. Then the finite-time controller is designed based on the fractional-order state feedback and the said sliding surface to realize the tracking of the system for the reference trajectory. Finally, the validity and reliability of the proposed method are verified by physical simulation.
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Published In
September 2023
552 pages
ISBN:9781450399951
DOI:10.1145/3630138
Copyright © 2023 ACM.
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Association for Computing Machinery
New York, NY, United States
Publication History
Published: 17 January 2024
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PCCNT 2023
PCCNT 2023: 2023 International Conference on Power, Communication, Computing and Networking Technologies
September 24 - 25, 2023
Wuhan, China
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