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A robust adaptive terminal sliding mode control for rigid robotic manipulators


Man, Z and O'Day, MS and Yu, X, A robust adaptive terminal sliding mode control for rigid robotic manipulators, Journal of intelligent and robotic systems, 24, (1) pp. 23-41. ISSN 0921-0296 (1999) [Refereed Article]

DOI: doi:10.1023/A:1008058114520


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.

Item Details

Item Type:Refereed Article
Research Division:Engineering
Research Group:Control engineering, mechatronics and robotics
Research Field:Field robotics
Objective Division:Manufacturing
Objective Group:Computer, electronic and communication equipment
Objective Field:Computer, electronic and communication equipment not elsewhere classified
UTAS Author:Man, Z (Dr Zhihong Man)
UTAS Author:O'Day, MS (Mr Mike Shane O'Day)
ID Code:18273
Year Published:1999
Web of Science® Times Cited:27
Deposited By:Electrical Engineering
Deposited On:1999-08-01
Last Modified:2011-11-08

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