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Barrier Lyapunov Function-Based Sliding Mode Control for Guaranteed Tracking Performance of Robot Manipulator
Joint Authors
Cheong, Jeong Yun
Han, Seong Ik
Lee, Jang Myung
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-11-28
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
We propose a decentralized error-bounded sliding mode control mechanism that ensures the prescribed tracking performance of a robot manipulator.
A tracking error-transformed sliding surface was constructed and the barrier Lyapunov function (BLF) was used to ensure the transient and steady-state time performance of the positioning function of a robot manipulator as well as satisfy the ordinary sliding mode control properties.
Unknown nonlinear functions and approximation errors are estimated by the RBF network and adaptive compensator.
The effectiveness of the proposed control scheme was determined by comparing the results of an experiment evaluation with those of the conventional sliding mode control (SMC) and finite-time terminal sliding mode control (FTSMC) methods.
American Psychological Association (APA)
Han, Seong Ik& Cheong, Jeong Yun& Lee, Jang Myung. 2013. Barrier Lyapunov Function-Based Sliding Mode Control for Guaranteed Tracking Performance of Robot Manipulator. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-9.
https://search.emarefa.net/detail/BIM-1011378
Modern Language Association (MLA)
Han, Seong Ik…[et al.]. Barrier Lyapunov Function-Based Sliding Mode Control for Guaranteed Tracking Performance of Robot Manipulator. Mathematical Problems in Engineering No. 2013 (2013), pp.1-9.
https://search.emarefa.net/detail/BIM-1011378
American Medical Association (AMA)
Han, Seong Ik& Cheong, Jeong Yun& Lee, Jang Myung. Barrier Lyapunov Function-Based Sliding Mode Control for Guaranteed Tracking Performance of Robot Manipulator. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-9.
https://search.emarefa.net/detail/BIM-1011378
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1011378