Abstract
A decentralized control scheme based on a combined backstepping terminal sliding mode algorithm for reconfigurable manipulators is proposed. Based on Lyapunov stability theory, backstepping technique and terminal sliding mode are utilized in the first and second order of the subsystem respectively, the unknown terms and interconnection term are approximated or compensated by neural networks whose weights are updated with adaptive laws. For the serious chatter of the controller with the linear sliding mode, the terminal sliding mode replaced the linear sliding mode. In contrast, the method improves the convergence rate and the tracking accuracy, the control signal is smoother. Finally, the simulation results show the effectiveness of proposed scheme for different configurations with no need to modify any parameters.
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