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Abstract
针对存在模型误差和外界干扰的不确定刚性机械手，结合自适应控制方法，非奇异终端滑模控制方法，以及有限时间李雅普诺夫方法，给出了一种基于终端滑模的自适应跟琮控制算法。该方法避免了传统终端滑模控制中的奇异问题和收敛停滞问题。采用有限时间李雅普诺夫稳定性分析理论，对算法的有限时间收敛特性进行了分析。仿真结果表明了算法的有效性。
By combining adaptive control method, non-singular terminal sliding mode control method, and the finite-time Lyapunov method, an adaptive terminal sliding mode tracking control algorithm, which is suitable for a class of rigid manipulators with model uncertainties and external disturbances, is proposed in this paper. This control strategy avoids the singularity problem and the stagnation behavior confronted by the traditional terminal sliding mode control algorithm. The convergence time is also estimated by using the finite-time Lyapunov stability analysis. The simulation results show the effectiveness of the proposed algorithm.
By combining adaptive control method, non-singular terminal sliding mode control method, and the finite-time Lyapunov method, an adaptive terminal sliding mode tracking control algorithm, which is suitable for a class of rigid manipulators with model uncertainties and external disturbances, is proposed in this paper. This control strategy avoids the singularity problem and the stagnation behavior confronted by the traditional terminal sliding mode control algorithm. The convergence time is also estimated by using the finite-time Lyapunov stability analysis. The simulation results show the effectiveness of the proposed algorithm.
| Translated title of the contribution | Adaptive finite-time tracking control of rigid manipulators |
|---|---|
| Original language | Chinese (Simplified) |
| Title of host publication | 第三十二届中国控制会议论文集 |
| Publication status | Published - Jul 2013 |
| Externally published | Yes |
| Event | 32nd Chinese Control Conference, CCC 2013 - Xi'an, China Duration: 26 Jul 2013 → 28 Jul 2013 |
Conference
| Conference | 32nd Chinese Control Conference, CCC 2013 |
|---|---|
| Country/Territory | China |
| City | Xi'an |
| Period | 26/07/13 → 28/07/13 |
Keywords
- 自适应控制
- 终端滑模控制
- 有限时间收敛
- Adaptive control
- Finite-time convergence
- Terminal sliding mode control
Fingerprint
Dive into the research topics of 'Adaptive finite-time tracking control of rigid manipulators'. Together they form a unique fingerprint.Research output
- 1 Conference paper (refereed)
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Adaptive finite-time tracking control of rigid manipulators
CHEN, G., YUE, Y. & SONG, Y., Oct 2013, Proceedings of the 32nd Chinese Control Conference, CCC 2013. IEEE, p. 3003-3008 6 p. 6639935Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review