A new terminal sliding mode control for robotic manipulators

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.

Keywords:

• terminal sliding mode control
• finite-time stability
• robot control

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).