Stabilization of a Class of Nonlinear Underactuated Robotic Systems through Nonsingular Fast Terminal Sliding Mode Control

Yaobin Song, Hui Li and Xiaoling Shi

Mathematical Problems in Engineering, 2020, vol. 2020, 1-9

Abstract:

To facilitate the stabilization of nonlinear underactuated robotic systems under perturbation, a novel nonsingular fast terminal sliding mode control method is proposed. Based on the system transformation into an integrator chain, the combination of twisting-like algorithm and a nonsingular fast terminal sliding mode control technique is employed to achieve the stabilization of the studied systems, which can drive the robot states (joint positions and velocities) to the desired region and then maintain the system at the equilibrium point in finite time. The robustness of the proposed method is validated by the Lyapunov direct method. Finally, numerical simulation results further demonstrate that the proposed method has better performance on the convergent speed of the system state (robot joint positions and velocities) than state-of-the-art methods, especially for the underactuated joints.

Date: 2020
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2020/5426087.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2020/5426087.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:5426087

DOI: 10.1155/2020/5426087

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().