文章基本信息

标题：Sliding Mode Control for Nonlinear Manipulator Systems
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作者：Beibei Zhang ; Xiao Yang ; Dongya Zhao 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：5127-5132
DOI：10.1016/j.ifacol.2017.08.781
语种：English
出版社：Elsevier
摘要：AbstractA sliding mode control is developed for nonlinear manipulator systems. An improved version of the exponential reaching law is presented to ensure the states converge to the sliding surface in finite time. In the presence of system uncertainty and external disturbances, the system states converge to a small region centered at the origin within a finite time and thereafter will asymptotically converge to the equilibrium point. The robustness and convergence properties of the proposed approach are demonstrated from both the theoretical point of view and also using simulation studies.
关键词：Keywordsnonlinear sliding modemanipulator systemtracking errorexponential reaching lawrobustnessresidual set