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http://dx.doi.org/10.14372/IEMEK.2021.16.4.137

Finite-time Adaptive Non-singular Terminal Sliding-mode Control for Robot Manipulator  

Baek, Jae-Min (Gangneung-Wonju Nat'l University)
Yun, Kyeong-Soo (Gangneung-Wonju Nat'l University)
Kang, Min-Seok (Kongju Nat'l University)
Publication Information
IEMEK Journal of Embedded Systems and Applications / v.16, no.4, 2021 , pp. 137-143 More about this Journal
Abstract
We propose an adaptive non-singular terminal sliding-mode control for the fast finite-time convergence (FANTSMC) in robot manipulator. The proposed FANTSMC approach is developed to be applied without singularity in robot manipulator, which has a new pole-placement control with the non-singular terminal sliding variable while generating the desirable control torque. Moreover, the switching gain is designed to suppress the time-delayed estimation error appropriately, which aims at providing the high robust tracking performance. Also, the proposed one employs one-sample delayed information to cancel out the system uncertainties and disturbances. For these reasons, it offers strong attraction within the finite time. It is shown that the tracking performance of the proposed FANTSMC approach is guaranteed to be uniformly ultimately bounded through the Lyapunov stability. The effectiveness of the proposed FANTSMC approach is illustrated in simulations, which is compared with that of the up-to-date control approach.
Keywords
Non-singular terminal sliding-mode; Model-free control; Adaptive control; Robot manipulator; Finite-time convergence;
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