Adaptive Nonsingular Terminal Sliding Mode Control of 6-DOF Manipulator with Modified Switch Function | Zendy

Cong Cheng | Zendy; Ru Lai | Zendy; Zhen Chen | Zendy; Xiangdong Liu | Zendy

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Adaptive Nonsingular Terminal Sliding Mode Control of 6-DOF Manipulator with Modified Switch Function

Author(s) -

Cong Cheng,

Ru Lai,

Zhen Chen,

Xiangdong Liu

Publication year - 2016

Publication title -

journal of advanced computational intelligence and intelligent informatics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.172

H-Index - 20

eISSN - 1343-0130

pISSN - 1883-8014

DOI - 10.20965/jaciii.2016.p0294

Subject(s) - control theory (sociology) , computer science , terminal sliding mode , lyapunov function , controller (irrigation) , terminal (telecommunication) , convergence (economics) , sliding mode control , lyapunov stability , function (biology) , torque , stability (learning theory) , invertible matrix , adaptive control , mode (computer interface) , tracking (education) , control (management) , mathematics , artificial intelligence , nonlinear system , economic growth , biology , operating system , telecommunications , quantum mechanics , evolutionary biology , machine learning , agronomy , thermodynamics , physics , pure mathematics , economics , pedagogy , psychology

This paper presents an adaptive nonsingular terminal sliding mode control algorithm with a modified switch function for a 6-DOF manipulator with unknown modeling errors and external disturbances. The finitetime convergence of the controller is analyzed using Lyapunov stability theory. The algorithm avoids singular problems and estimates the upper bound of system uncertainties. A modified switch function is used to achieve precise tracking and reduce chattering in control torque. Finally, the effectiveness of the control method is verified through simulation.

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