Stabilization of a Class of Nonlinear Underactuated Robotic Systems through Nonsingular Fast Terminal Sliding Mode Control
Joint Authors
Song, Yaobin
Li, Hui
Shi, Xiaoling
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-11-25
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
To facilitate the stabilization of nonlinear underactuated robotic systems under perturbation, a novel nonsingular fast terminal sliding mode control method is proposed.
Based on the system transformation into an integrator chain, the combination of twisting-like algorithm and a nonsingular fast terminal sliding mode control technique is employed to achieve the stabilization of the studied systems, which can drive the robot states (joint positions and velocities) to the desired region and then maintain the system at the equilibrium point in finite time.
The robustness of the proposed method is validated by the Lyapunov direct method.
Finally, numerical simulation results further demonstrate that the proposed method has better performance on the convergent speed of the system state (robot joint positions and velocities) than state-of-the-art methods, especially for the underactuated joints.
American Psychological Association (APA)
Song, Yaobin& Li, Hui& Shi, Xiaoling. 2020. Stabilization of a Class of Nonlinear Underactuated Robotic Systems through Nonsingular Fast Terminal Sliding Mode Control. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-9.
https://search.emarefa.net/detail/BIM-1195942
Modern Language Association (MLA)
Song, Yaobin…[et al.]. Stabilization of a Class of Nonlinear Underactuated Robotic Systems through Nonsingular Fast Terminal Sliding Mode Control. Mathematical Problems in Engineering No. 2020 (2020), pp.1-9.
https://search.emarefa.net/detail/BIM-1195942
American Medical Association (AMA)
Song, Yaobin& Li, Hui& Shi, Xiaoling. Stabilization of a Class of Nonlinear Underactuated Robotic Systems through Nonsingular Fast Terminal Sliding Mode Control. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-9.
https://search.emarefa.net/detail/BIM-1195942
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1195942