控制理论(社会学)
控制器(灌溉)
跟踪(教育)
控制工程
非线性系统
控制(管理)
自适应控制
跟踪误差
Lyapunov稳定性
作者
Thanh Nguyen Truong,Anh Tuan Vo
出处
期刊:IEEE Access
[Institute of Electrical and Electronics Engineers]
日期:2021-01-01
卷期号:9: 31921-31931
被引量:67
标识
DOI:10.1109/access.2021.3060115
摘要
We propose a backstepping global fast terminal sliding mode control for trajectory tracking control of industrial robotic manipulators in this article. An integral of the global fast terminal sliding mode surface is firstly suggested to improve the dynamic performance and fast convergence of Sliding Mode Control (SMC) and Terminal SMC (TSMC), which also obtains a finite-time convergence. A controller is then developed from the proposed sliding surface using the backstepping control method and High-Order SMC (HOSMC) to ensure the global stability of the control system. Thanks to this proposed method, the controller provides small position and velocity control errors with less oscillation, smooth control torque, and convergence of the control errors in the short time. The stability and convergence also are guaranteed with Lyapunov theory. Finally, computer simulation verifies the effectiveness of the designed controller.
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