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International Journal of Control Volume 82, 2009 - Issue 10
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Original Articles

A new terminal sliding mode control for robotic manipulators

Dongya Zhao Institute of Automation, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai 200240, China; College of Mechanical and Electronic Engineering, China University of Petroleum, Dongying, 257061, China
,
Shaoyuan Li Institute of Automation, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai 200240, ChinaCorrespondence[email protected]
&
Feng Gao School of Mechanical Engineering, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai 200240, China
Pages 1804-1813 | Received 07 Sep 2008, Accepted 21 Jan 2009, Published online: 06 Aug 2009
 
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Abstract

In this study, a new terminal sliding mode control approach is developed for robotic manipulators based on finite-time stability theory and differential inequality principle. The corresponding stability analysis is presented to lay a foundation for theoretical understanding to the underlying design issue as well as safe operation for real system. An illustrative example of a two-link rigid robotic manipulator is presented to validate effectiveness of the proposed approach.

Acknowledgements

This work was supported by the National Natural Science Foundation of China (Grant: 60825302, 60534020 and 60774015), the High Technology Research and Development Program (2006AA04Z173), the Specialised Research Fund for the Doctoral Program of Higher Education of China (20060248001), and partly by Shanghai Natural Science Foundation (07JC14016).

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