Fast terminal sliding mode tracking control of nonlinear uncertain mass–spring system with experimental verifications

International Journal of Advanced Robotic Systems

SaeedAmirkhani¹ 

关键词: Nonlinear mass–spring system;    fast terminal sliding mode;    Lyapunov theory;    finite time convergence;    uncertainties;   

DOI  :  10.1177/1729881419828176

学科分类：自动化工程

来源: InTech

【 摘 要 】

In this article, a fast terminal sliding mode control technique is used for robust tracking control of a nonlinear uncertain mass–spring system in the existence of external perturbation. This system is considered as a benchmark problem in the flexible joint mechanisms. The joints flexibility in the robotic systems creates one of the most significant sources of parametric uncertainties. The theory of Lyapunov stability is used for the formulation of the proposed control method, and the presence of the sliding around the switching surface is satisfied in the finite time. Simulation results as well as the experimental verifications prove the efficiency and applicability of the suggested approach in the presence of parametric uncertainty, noise, and exterior disturbance.

【 授权许可】

CC BY