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PD with Terminal Sliding Mode Control for Trajectory Tracking
2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2020Trajectory tracking is one of the most important tasks for the applications of robotic manipulators. In this paper, taking the advantages of the simplicity of the PD control and the fast convergence of terminal sliding mode control (TSMC), a PD-TSMC control law is introduced for tracking control of a 3-DOF robotic manipulator.
Wenhui Yue +2 more
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Terminal sliding mode control for rigid robots
Automatica, 1998A terminal sliding mode control for \(n\)-link rigid robotic manipulators is proposed. The controller design uses a control law based on some properties of the manipulator with a nonlinear term of the sliding variable vector. The uncertainty bound needed to derive this control law depends only on the inertia parameters of the robot, which can be ...
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Control of Nonlinear Systems Using Terminal Sliding Modes
Journal of Dynamic Systems, Measurement, and Control, 1992Many robotic systems would, in the future, be reuqired to operate in environments that are highly unstructured and active, i.e., possessing means of self-actuation. Although a significant volume of results exist in model-based, robust and adaptive control literature, general issues pertinent to the performance of such control systems remain unresolved,
Venkataraman, S. T., Gulati, S.
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PID-Terminal Sliding Mode Control of Aircraft UAV
2014 European Modelling Symposium, 2014In this work is treated the design of two controllers applied to a fixed-wing unmanned aerial vehicle (UAV). The aim is to stabilize an UAV type Cessna 182 in longitudinal and in lateral-directional flight. The UAV is identified by decoupling the system to longitudinal and lateral-directional modes and using off line modeling.
Lamia Melkou +2 more
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Self-triggered Nonsingular Terminal Sliding Mode Control
2018 Annual American Control Conference (ACC), 2018Effective resource allocation (e.g., CPU cycles, network bandwidth, etc.) is the key to ensuring high quality feedback control in networked control systems. This paper proposes a self-triggered control method based on nonsingular terminal sliding mode control to guarantee the required control quality while minimizing the system resource utilization. To
Peng Wu 0009 +2 more
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Improved linear sliding mode controller of buck converters through adding terminal sliding mode
2017 11th Asian Control Conference (ASCC), 2017In order to solve the problems of the traditional single closed-loop linear sliding mode (LSM) controller of Buck converter, such as slow response and bad steady accuracy, a new double-loop control structure and a terminal sliding mode (TSM) controller is introduced in this paper.
Yanmin Wang +3 more
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Terminal sliding mode observers for a class of nonlinear systems
Automatica, 2010zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Chee Pin Tan +2 more
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On switching manifold design for terminal sliding mode control
Journal of the Franklin Institute, 2016zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Chaoxu Mu +2 more
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Terminal sliding mode attitude control for satellite
2010 8th World Congress on Intelligent Control and Automation, 2010A finite time control method based on terminal sliding mode (TSM) is presented for satellite attitude control system in this paper. Using the concepts of finite time stability and TSM, a finite time stable sliding mode is designed, and then a continuous TSM finite time controller using the inverse dynamic method is designed for the second-order dynamic
null Guangfu Ma +3 more
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Terminal sliding modes with fast transient performance
Proceedings of the 36th IEEE Conference on Decision and Control, 2002An improved terminal sliding mode is proposed which exhibits fast convergence. A recursive procedure is used to address the SISO system control problem.
null Xinghuo Yu +2 more
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