Abstract
The problem of finite-time trajectory tracking of robot manipulators with uncertain dynamics, external bounded disturbances, and bounded torque inputs is addressed in this paper. In order to achieve finite-time convergence a nonlinear control algorithm based on a second-order sliding mode controller in combination with nonsingular terminal sliding mode is proposed. The proposed controller also exploits the properties of the hyperbolic tangent function. As a result, the control algorithm generates a continuous bounded signal. In addition, the controller structure is simple since it does not require the knowledge of the robot dynamic model. Experimental results are provided to show the performance of the proposed control algorithm.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
