Abstract
In this paper, a robust finite time control scheme is introduced for trajectory tracking of robot manipulators based on a new sliding mode control (SMC) and time delay estimation (TDE) technique. The suggested control scheme is independent of the robot dynamics, and the upper and lower bounds of the inertia matrix are enough to design the controller. To confirm this claim, at first the boundedness of the TDE errors is analyzed by Lyapunov-Krasovskii approach. Next, a dual terminal SMC (DTSMC) based on TDE is proposed to achieve desirable tracking performance and fast finite convergence time. Meanwhile, the stability of the closed-loop system with the proposed control algorithm is investigated through the Lyapunov method by choosing the appropriate sliding surface. Finally, the effectiveness of the proposed control scheme is shown by some simulations as well as comparing with other types of TDE based SMC schemes.
Sign-in/Register to access full text options 
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.
