JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2016, Vol. 46 ›› Issue (5): 45-53.doi: 10.6040/j.issn.1672-3961.0.2016.328

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Robotic manipulators tracking control based on adaptive terminal sliding mode controller

TANG Qingshun, JIN Lu, LI Guodong, WU Chunfu   

  1. School of Mechanical and Electrical Engineering, Longyan College, Longyan 364012, Fujian, China
  • Received:2016-08-23 Online:2016-10-20 Published:2016-08-23

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Abstract: A self-adaptive second-order terminal sliding mode controller was proposed to achieve trajectory tracking control of robotic manipulators with uncertainties. The self-adaptive second-order terminal sliding mode algorithm was designed for a class of nonlinear uncertain system. The discontinuous sign function was included in first time derivative of control item, and the actual control input was continuous. The self-adaptive law method was employed to conquer system uncertainties, of which the upper bounds were unknown in advance, and the system stability was proved based on Lyapunov criterion. The robotic manipulators self-adaptive terminal sliding mode trajectory tracking control scheme was proposed. Simulation results for two-link robotic manipulator demonstrated the effectiveness of the proposed control strategy.

Key words: self-adaptive, terminal sliding mode, second-order sliding mode, robotic manipulators, trajectory tracking, control

CLC Number: 

  • TP273
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