Title: Global fast terminal sliding mode control for robotic manipulators

Authors: Shuanghe Yu, Ge Guo, Zi Ma, Jialu Du

Addresses: Automation Research Center, Dalian Maritime University, Dalian 116026, People Republic of China. ' Automation Research Center, Dalian Maritime University, Dalian 116026, People Republic of China. ' Automation Research Center, Dalian Maritime University, Dalian 116026, People Republic of China. ' Automation Research Center, Dalian Maritime University, Dalian 116026, People Republic of China

Abstract: A Global Fast Terminal Sliding Mode Controller (GFTSMC) is proposed for n-link robotic manipulators by employing the Fast Terminal Sliding Mode (FTSM) control concept in both the reaching phase and the sliding phase. Under the control, the system states will reach FTSM in desired finite time and then converge to the origin along the FTSM in specified finite time, resulting in a reduced steady tracking error in comparison with the conventional sliding mode controller. The proposed controller is continuous and therefore chattering-free. An example is presented to demonstrate its effectiveness.

Keywords: terminal sliding mode; finite-time convergence; chattering-free; robustness; sliding mode control; robot control; manipulator control; tracking errors; chatter avoidance.

DOI: 10.1504/IJMIC.2006.008650

International Journal of Modelling, Identification and Control, 2006 Vol.1 No.1, pp.72 - 79

Published online: 13 Jan 2006 *

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