Adaptive second order terminal sliding mode controller for robotic manipulators

DOI10.1016/j.jfranklin.2013.08.027zbMath1372.93065OpenAlexW2080117869MaRDI QIDQ2410761

Chitralekha Mahanta, Sanjoy Mondal

Publication date: 19 October 2017

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2013.08.027

zbMATH Keywords

robotic manipulatorsystem uncertaintiesadaptive second order terminal sliding mode (SOTSM) controlleradaptive tuning method

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12) Artificial intelligence for robotics (68T40)

Related Items (54)

Adaptive finite-time tracking control of robot manipulators with multiple uncertainties based on a low-cost neural approximator ⋮ Adaptive moving sliding mode control for SISO systems: application to an electropneumatic system ⋮ Finite-time switched second-order sliding-mode control of nonholonomic wheeled mobile robot systems ⋮ Second-order fast terminal sliding mode control design based on LMI for a class of non-linear uncertain systems and its application to chaotic systems ⋮ Adaptive terminal sliding mode based thruster fault tolerant control for underwater vehicle in time-varying ocean currents ⋮ Robust adaptive sliding mode control for uncertain nonlinear MIMO system with guaranteed steady state tracking error bounds ⋮ DSP-based implementation of fast terminal synergetic control for a DC-DC buck converter ⋮ Robust output feedback sliding mode control for uncertain discrete time systems ⋮ Projective synchronization for uncertain network based on modified sliding mode control technique ⋮ Outer synchronization of small-world networks by a second-order sliding mode controller ⋮ Adaptive finite‐time super‐twisting sliding mode control for robotic manipulators with control backlash ⋮ Finite time extended state observer based nonsingular fast terminal sliding mode control of flexible-joint manipulators with unknown disturbance ⋮ Sliding Mode Controller Design for the Global Stabilization of Chaotic Systems and Its Application to Vaidyanathan Jerk System ⋮ Finite‐time control of mobile manipulators subject to unknown/unstructured external disturbances ⋮ Constraint finite-time control of redundant manipulators ⋮ Finite-Time Sliding Mode Trajectory Tracking Control of Uncertain Mechanical Systems ⋮ A Novel 4-D Hyperchaotic Thermal Convection System and Its Adaptive Control ⋮ Dynamic Analysis, Adaptive Feedback Control and Synchronization of An Eight-Term 3-D Novel Chaotic System with Three Quadratic Nonlinearities ⋮ Qualitative Study and Adaptive Control of a Novel 4-D Hyperchaotic System with Three Quadratic Nonlinearities ⋮ A Novel 4-D Four-Wing Chaotic System with Four Quadratic Nonlinearities and Its Synchronization via Adaptive Control Method ⋮ Adaptive Control and Synchronization of Halvorsen Circulant Chaotic Systems ⋮ Adaptive Backstepping Control and Synchronization of a Novel 3-D Jerk System with an Exponential Nonlinearity ⋮ Generalized Projective Synchronization of a Novel Hyperchaotic Four-Wing System via Adaptive Control Method ⋮ Hyperchaos, Control, Synchronization and Circuit Simulation of a Novel 4-D Hyperchaotic System with Three Quadratic Nonlinearities ⋮ Complete Synchronization of Hyperchaotic Systems via Novel Sliding Mode Control ⋮ A Novel 3-D Conservative Jerk Chaotic System with Two Quadratic Nonlinearities and Its Adaptive Control ⋮ A Novel 3-D Circulant Highly Chaotic System with Labyrinth Chaos ⋮ Dynamic Analysis, Adaptive Control and Synchronization of a Novel Highly Chaotic System with Four Quadratic Nonlinearities ⋮ Analysis, Adaptive Control and Synchronization of a Novel 3-D Chaotic System with a Quartic Nonlinearity and Two Quadratic Nonlinearities ⋮ Qualitative Analysis and Properties of a Novel 4-D Hyperchaotic System with Two Quadratic Nonlinearities and Its Adaptive Control ⋮ Global Chaos Synchronization of a Novel 3-D Chaotic System with Two Quadratic Nonlinearities via Active and Adaptive Control ⋮ A Novel 2-D Chaotic Enzymes-Substrates Reaction System and Its Adaptive Backstepping Control ⋮ Analysis, Control and Synchronization of a Novel 4-D Highly Hyperchaotic System with Hidden Attractors ⋮ A Novel Double Convection Chaotic System, Its Analysis, Adaptive Control and Synchronization ⋮ A Seven-Term Novel 3-D Jerk Chaotic System with Two Quadratic Nonlinearities and Its Adaptive Backstepping Control ⋮ Analysis, Control and Synchronization of a Novel Highly Chaotic System with Three Quadratic Nonlinearities ⋮ A No-Equilibrium Novel 4-D Highly Hyperchaotic System with Four Quadratic Nonlinearities and Its Adaptive Control ⋮ An adaptive robust nonsingular fast terminal sliding mode controller based on wavelet neural network for a 2-DOF robotic arm ⋮ A novel nonlinear fault tolerant control for manipulator under actuator fault ⋮ An Eight-Term 3-D Novel Chaotic System with Three Quadratic Nonlinearities, Its Adaptive Feedback Control and Synchronization ⋮ Hyperchaos and Adaptive Control of a Novel Hyperchaotic System with Two Quadratic Nonlinearities ⋮ Adaptive Control of a Novel Nonlinear Double Convection Chaotic System ⋮ Terminal sliding mode disturbance observer based adaptive super twisting sliding mode controller design for a class of nonlinear systems ⋮ Predefined performance adaptive control of robotic manipulators with dynamic uncertainties and input saturation constraints ⋮ Second-order terminal sliding mode control for networks synchronization ⋮ Adaptive sliding mode control for uncertain Euler-Lagrange systems with input saturation ⋮ Disturbance observer–based adaptive boundary layer sliding mode controller for a type of nonlinear multiple‐input multiple‐output system ⋮ Weighted multiple-model neural network adaptive control for robotic manipulators with jumping parameters ⋮ Robust adaptive relative position and attitude control for noncooperative spacecraft hovering under coupled uncertain dynamics ⋮ Robust nonlinear control schemes for finite-time tracking objective of a 5-DOF robotic exoskeleton ⋮ Distributed chattering-free containment control for multiple Euler-Lagrange systems ⋮ Adaptive high order sliding mode controller/observer based terminal sliding mode for MIMO uncertain nonlinear system ⋮ Finite-time control of robotic manipulators ⋮ Design of adaptive terminal super-twisting controllers for nonlinear systems with mismatched perturbations

Cites Work

• Unnamed Item
• Finite time stability and stabilization of a class of continuous systems
• Methods for constructing discontinuity planes in multidimensional variable structure systems
• Sliding modes in control and optimization. Transl. from the Russian
• Non-singular terminal sliding mode control of rigid manipulators
• Reduced-order control for a class of nonlinear similar interconnected systems with mismatched uncertainty
• Modelling and control of robot manipulators.
• Continuous finite-time control for robotic manipulators with terminal sliding mode
• New methodologies for adaptive sliding mode control
• Robust trajectory following of robots using computed torque structure with VSS
• Finite time stability conditions for non-autonomous continuous systems
• Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†
• On manipulator control by exact linearization
• Sliding order and sliding accuracy in sliding mode control
• A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators
• Chattering avoidance by second-order sliding mode control
• Decentralized control of robot manipulators: nonlinear and adaptive approaches
• Control of rigid robot manipulators via combination of adaptive sliding mode control and compensated inverse dynamics approach
• Second-order terminal sliding mode control of uncertain multivariable systems
• Multi-input second-order sliding-mode hybrid control of constrained manipulators

This page was built for publication: Adaptive second order terminal sliding mode controller for robotic manipulators