NDLI: Tracking control of multi-linked robots based on terminal sliding mode

Content Provider	IEEE Xplore Digital Library
Author	Zhu Daohong Chai Yu
Copyright Year	2011
Description	Author affiliation: School of Electrical and Control Engineering, Xi'an University of Science and Technology, 710054, China (Zhu Daohong; Chai Yu)
Abstract	For the trajectory tracking control problem of biped multi-linked robots with uncertain disturbances, a global finite-time tracking controller is proposed based on terminal sliding mode control method. First, according to the features of forward dynamic model of biped multi-linked robots, the sliding mode controller is designed based on the terminal sliding mode theory. Under the designed controller, the tracking error will not only reach the terminal sliding mode surface from any initial states but also converges to the origin along the sliding mode surface in finite time . Second, due to the non-continuity of the controller, the chattering phenomenon occurs. To this end, a modified saturation function is utilized to substitute the sign function in the designed controller, and thus the chattering can be eliminated. Finally, simulation results verify the effectiveness of this method.
Starting Page	2539
Ending Page	2543
File Size	228960
Page Count	5
File Format	PDF
ISBN	9781457706776
ISSN	21612927
e-ISBN	9789881725592
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-07-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Assoc of Automati
Subject Keyword	Control engineering Simulation Humanoid robots Terminal Sliding Mode Control Chattering Electronic mail Trajectory Biped Multi-linked Robots Sliding mode control
Content Type	Text
Resource Type	Article

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