Stabilization of a class of nonlinear underactuated robotic systems through nonsingular fast terminal sliding mode control
Summary: To facilitate the stabilization of nonlinear underactuated robotic systems under perturbation, a novel nonsingular fast terminal sliding mode control method is proposed. Based on the system transformation into an integrator chain, the combination of twisting-like algorithm and a nonsingular fast terminal sliding mode control technique is employed to achieve the stabilization of the studied systems, which can drive the robot states (joint positions and velocities) to the desired region and then maintain the system at the equilibrium point in finite time. The robustness of the proposed method is validated by the Lyapunov direct method. Finally, numerical simulation results further demonstrate that the proposed method has better performance on the convergent speed of the system state (robot joint positions and velocities) than state-of-the-art methods, especially for the underactuated joints.
- Neuro-adaptive fixed-time non-singular fast terminal sliding mode control design for a class of under-actuated nonlinear systems
- Global sliding mode control of underactuated inertia wheel pendulum systems
- Adaptive fuzzy backstepping controller design for uncertain underactuated robotic systems
- Adaptive RBFNN finite-time control of normal forms for underactuated mechanical systems
- Integral sliding modes with nonlinear \(\mathcal{H}_\infty \)-control for time-varying minimum-phase underactuated systems with unmatched disturbances
- A constructive solution for stabilization via immersion and invariance: the cart and pendulum system
- A new controller for the inverted pendulum on a cart
- Analysis of the energy-based control for swinging up two pendulums
- Dynamics of a two-pendulum model with impact interaction and an elastic support
- Energy based control of the Pendubot
- Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
- Nonlinear control of a swinging pendulum
- Nonsingular fast terminal sliding-mode control for nonlinear dynamical systems
- Optimal Control of Underactuated Nonholonomic Mechanical Systems
- Physical damping in IDA-PBC controlled underactuated mechanical systems
- Reaching Time Estimation for “Super-Twisting” Second Order Sliding Mode Controller via Lyapunov Function Designing
- Sampled-data observer-based output-feedback fuzzy stabilization of nonlinear systems: exact discrete-time design approach
- Second‐order sliding mode control of underactuated mechanical systems I: Local stabilization with application to an inverted pendulum
- Sliding mode control of a class of underactuated systems
- Sliding mode control of underactuated multibody systems and its application to shape change control
- Underactuated robotic hands
- Nonsingular fractional-order integral fast-terminal sliding mode control for underactuated shipboard cranes
- Stabilization of Second Order Underactuated System Using Fast Terminal Synergetic Control
- Cross-backstepping control with prescribed performance for input-coupled underactuated systems under arbitrary initial conditions
- Neuro-adaptive fixed-time non-singular fast terminal sliding mode control design for a class of under-actuated nonlinear systems
- Numerical stability analysis and control of umbilical-ROV systems in one-degree-of-freedom taut-slack condition
This page was built for publication: Stabilization of a class of nonlinear underactuated robotic systems through nonsingular fast terminal sliding mode control
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2217010)
