摘要
This paper proposes a high-speed nonsingular terminal switched sliding mode control(HNT-SSMC) strategy for robot manipulators. The proposed approach enhances the control system performance by switching among appropriate sliding mode controllers according to different control demands in different regions of the state space. It is shown that the highspeed nonsingular terminal switched sliding mode(HNT-SSM)which is the representation of different control demands and enforced by the HNT-SSMC has the property of global highspeed convergence compared with the nonsingular fast terminal sliding mode(NFTSM), and provides the global non-singularity.The simulation study of an application example is carried out to validate the effectiveness of the proposed strategy.
This paper proposes a high-speed nonsingular terminal switched sliding mode control(HNT-SSMC) strategy for robot manipulators. The proposed approach enhances the control system performance by switching among appropriate sliding mode controllers according to different control demands in different regions of the state space. It is shown that the highspeed nonsingular terminal switched sliding mode(HNT-SSM)which is the representation of different control demands and enforced by the HNT-SSMC has the property of global highspeed convergence compared with the nonsingular fast terminal sliding mode(NFTSM), and provides the global non-singularity.The simulation study of an application example is carried out to validate the effectiveness of the proposed strategy.
基金
supported partially by the Research Program of Science and Technology at Universities of Inner Mongolia Autonomous Region(NJZY13279)
