Inverse dynamics non-singular terminal sliding mode control of two-link flexible manipulators

Feng, Y, Bao, S and Yu, X 2004, 'Inverse dynamics non-singular terminal sliding mode control of two-link flexible manipulators', International Journal of Robotics and Automation, vol. 19, pp. 91-102.


Document type: Journal Article
Collection: Journal Articles

Title Inverse dynamics non-singular terminal sliding mode control of two-link flexible manipulators
Author(s) Feng, Y
Bao, S
Yu, X
Year 2004
Journal name International Journal of Robotics and Automation
Volume number 19
Start page 91
End page 102
Total pages 12
Publisher ACTA Press
Abstract The nonminimum phase characteristics of flexible manipulators hinder their asymptotic tracking of a desired tip trajectory with a bounded control input. To address this problem, the authors propose an inverse dynamics nonsingular terminal sliding mode control strategy for a two-link flexible manipulator. First, the output of the two-link flexible manipulator system is redefined as a function of joint angles, modes, and parameters that affect the zero dynamics of the system. The input-output subsystem is derived from the redefined output and the original system. An inverse dynamics nonsingular terminal sliding mode controller is designed to make the input-output subsystem converge to its equilibrium point in finite time. The characteristics of the zero dynamics of the system are analyzed and calculated. The relationship between the eigenvalues of the zero dynamics and the parameters of the redefined output is obtained, which can be used to design the controller to guarantee the zero dynamics to be asymptotically stable at equilibrium point. Thus, the whole original flexible manipulator system is guaranteed to be asymptotically stable. Simulation results are presented to validate the design.
Subject Automation and Control Engineering
Calculus of Variations, Systems Theory and Control Theory
Keyword(s) Flexible manipulators
adaptive control systems
DOI - identifier 10.2316/Journal.206.2004.2.206-2702
ISSN 0826-8185
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