Finite-Time Tracking Controller Design of Perturbed Robotic Manipulator Based on Adaptive Second-Order Sliding Mode Control Method

Finite-Time Tracking Controller Design of Perturbed Robotic Manipulator Based on Adaptive Second-Order Sliding Mode Control Method

This article presents an adaptive finite time second-order sliding mode tracking control scheme for robotic manipulators. A new control law is suggested to force the trajectories of the robot manipulator to move from all initial conditions to proportional-integral-derivative switching surface in the...

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Bibliographic Details
Main Authors: Saleh Mobayen, Omid Mofid, Sami Ud Din, Andrzej Bartoszewicz
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Finite-time control
second-order sliding mode
robot manipulator
adaptive tuning
tracking error
Online Access:https://ieeexplore.ieee.org/document/9427191/

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