Adaptive time-delayed control approach with non-singular sliding-mode for robot manipulators

被引：1
|
作者：
Baek J.-M. [1 ]
Baek H.-B. [2 ]
机构：
[1] Department of Computer Science and Engineering, Incheon National University
来源：
Journal of Institute of Control, Robotics and Systems | 2019年 / 25卷 / 10期
关键词：
Adaptive control; Non-singular sliding-mode; Robot manipulator; Time-delayed control;
D O I：
10.5302/J.ICROS.2019.19.0175
中图分类号：
学科分类号：
摘要：
This paper describes an adaptive time-delayed control approach with a non-singular terminal sliding-mode technique (ATDC-NTS) that is proposed for obtaining fast response and high tracking performance in robot manipulators. The proposed ATDC-NTS uses one-sampled delayed measurements to cancel the uncertainties and the unknown disturbances generated by the robot manipulators. The proposed method uses an adaptive sliding-mode control for not requiring the stability criteria inherent in the time-delayed control (TDC), and hence, the magnitude of the control gains used in ATDC-NTS is not restricted unlike that used in the existing TDC-based control approaches. In addition, as the proposed ATDC-NTS is based on the non-singular terminal sliding-mode technique, it provides strong attractivity while approaching the reference points within the finite time. The simulation results showed that the proposed ATDC-NTS had high tracking performance as compared to the existing control approach. © ICRO OS 2019.
引用
收藏
页码：896 / 901
页数：5
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