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Approximate continuous fixed-time terminal sliding mode control with prescribed performance for uncertain robotic manipulators

文献类型：期刊论文

作者H. Y. Sai; Z. B. Xu; C. K. Xia and X. Y. Sun
刊名Nonlinear Dynamics
出版日期2022
卷号110期号:1页码:431-448
ISSN号0924-090X
DOI10.1007/s11071-022-07650-w
英文摘要This paper studies an approximate continuous fixed-time terminal sliding mode control (CFTSMC) with prescribed performance for uncertain robotic manipulators. A transformation concerning tracking error using a fixed-time prescribed performance function is proposed to guarantee the transient and steady-state performance of trajectory tracking control for uncertain robotic manipulators within fixed time. Utilizing the transformed error, a smooth fixed-time sliding mode surface is designed. Then, based on the proposed sliding mode surface, an approximate CFTSMC scheme is presented to achieve inherent chattering-free control for uncertain robotic manipulators. According to the Lyapunov stability theory, it is proved that the position tracking error can be bounded in the prescribed performance boundaries and globally converges to a defined small region within fixed time and then approaches exponentially to the origin. Several numerical simulation results demonstrate the effectiveness and superiority of the proposed control strategy for uncertain robotic manipulators.
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语种英语
源URL[http://ir.ciomp.ac.cn/handle/181722/66426]  
专题中国科学院长春光学精密机械与物理研究所
推荐引用方式
GB/T 7714		 H. Y. Sai,Z. B. Xu,C. K. Xia and X. Y. Sun. Approximate continuous fixed-time terminal sliding mode control with prescribed performance for uncertain robotic manipulators[J]. Nonlinear Dynamics,2022,110(1):431-448.
APA H. Y. Sai,Z. B. Xu,&C. K. Xia and X. Y. Sun.(2022).Approximate continuous fixed-time terminal sliding mode control with prescribed performance for uncertain robotic manipulators.Nonlinear Dynamics,110(1),431-448.
MLA H. Y. Sai,et al."Approximate continuous fixed-time terminal sliding mode control with prescribed performance for uncertain robotic manipulators".Nonlinear Dynamics 110.1(2022):431-448.

入库方式： OAI收割

来源：长春光学精密机械与物理研究所

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