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Fast terminal sliding mode tracking control of nonlinear uncertain mass–spring system with experimental verifications
| Content Provider | SAGE Publishing |
|---|---|
| Author | Amirkhani, Saeed Mobayen, Saleh Iliaee, Nahal Boubaker, Olfa Hosseinnia, S. Hassan |
| Copyright Year | 2019 |
| Abstract | In this article, a fast terminal sliding mode control technique is used for robust tracking control of a nonlinear uncertain mass–spring system in the existence of external perturbation. This system is considered as a benchmark problem in the flexible joint mechanisms. The joints flexibility in the robotic systems creates one of the most significant sources of parametric uncertainties. The theory of Lyapunov stability is used for the formulation of the proposed control method, and the presence of the sliding around the switching surface is satisfied in the finite time. Simulation results as well as the experimental verifications prove the efficiency and applicability of the suggested approach in the presence of parametric uncertainty, noise, and exterior disturbance. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.1177/1729881419828176?download=true |
| ISSN | 17298806 |
| Issue Number | 1 |
| Volume Number | 16 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.1177/1729881419828176 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2019-02-06 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © The Author(s) 2019 |
| Subject Keyword | finite time convergence fast terminal sliding mode Nonlinear mass–spring system Lyapunov theory uncertainties |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
