摘要
A global relay switching control scheme with finite time convergence (FTC) is proposed for multi-joint rigid robotic manipulator systems with uncertain dynamics. For a general finite time controller, the control signals may tend to infinity in finite time when the initial states of the system are in some specified area, causing the singularity problem of the closed-loop system and finite escape.The design scheme for finite time tracking control uses a relay switching control method so that the boundedness of the control signal is guaranteed and the singularity phenomenon is avoided. The validity of our scheme is demonstrated by simulation results.
A global relay switching control scheme with finite time convergence (FTC) is proposed for multi-joint rigid robotic manipulator systems with uncertain dynamics. For a general finite time controller, the control signals may tend to infinity in finite time when the initial states of the system are in some specified area, causing the singularity problem of the closed-loop system and finite escape. The design scheme for finite time tracking control uses a relay switching control method so that the boundedness of the control signal is guaranteed and the singularity phenomenon is avoided. The validity of our scheme is demonstrated by simulation results.
出处
《自动化学报》
EI
CSCD
北大核心
2005年第3期412-418,共7页
Acta Automatica Sinica
基金
国家自然科学基金，国家自然科学基金
关键词
机器人操作器
切换控制
时间跟踪
中继
有限
Calculations
Closed loop control systems
Computer simulation
Control equipment
Electric relays
Optimization
Robots
Sliding mode control
Switching circuits
