Adaptive finite-time tracking control of rigid manipulators

Gang CHEN; Yuanlong YUE; Yongduan SONG

Adaptive finite-time tracking control of rigid manipulators

Gang CHEN
, Yuanlong YUE
, Yongduan SONG

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review

Abstract

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. © 2013 TCCT, CAA.

Original language	English
Title of host publication	Proceedings of the 32nd Chinese Control Conference, CCC 2013
Publisher	IEEE
Pages	3003-3008
Number of pages	6
ISBN (Print)	9789881563835
Publication status	Published - Oct 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

Adaptive control
Finite-time convergence
Terminal sliding mode control

Cite this

@inproceedings{37756ed8d9a44cfbbc191520f9f19dc3,

title = "Adaptive finite-time tracking control of rigid manipulators",

abstract = "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. {\textcopyright} 2013 TCCT, CAA.",

keywords = "Adaptive control, Finite-time convergence, Terminal sliding mode control",

author = "Gang CHEN and Yuanlong YUE and Yongduan SONG",

year = "2013",

month = oct,

language = "English",

isbn = "9789881563835",

pages = "3003--3008",

booktitle = "Proceedings of the 32nd Chinese Control Conference, CCC 2013",

publisher = "IEEE",

note = "32nd Chinese Control Conference, CCC 2013 ; Conference date: 26-07-2013 Through 28-07-2013",

}

TY - GEN

T1 - Adaptive finite-time tracking control of rigid manipulators

AU - CHEN, Gang

AU - YUE, Yuanlong

AU - SONG, Yongduan

PY - 2013/10

Y1 - 2013/10

N2 - 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. © 2013 TCCT, CAA.

AB - 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. © 2013 TCCT, CAA.

KW - Adaptive control

KW - Finite-time convergence

KW - Terminal sliding mode control

UR - https://www.scopus.com/pages/publications/84890449577

M3 - Conference paper (refereed)

AN - SCOPUS:84890449577

SN - 9789881563835

SP - 3003

EP - 3008

BT - Proceedings of the 32nd Chinese Control Conference, CCC 2013

PB - IEEE

T2 - 32nd Chinese Control Conference, CCC 2013

Y2 - 26 July 2013 through 28 July 2013

ER -

Adaptive finite-time tracking control of rigid manipulators

Abstract

Conference

Keywords

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