JACIII Vol.20 No.2 pp. 294-301
doi: 10.20965/jaciii.2016.p0294


Adaptive Nonsingular Terminal Sliding Mode Control of 6-DOF Manipulator with Modified Switch Function

Cong Cheng, Ru Lai, Zhen Chen, and Xiangdong Liu

Beijing Institute of Technology
5 South Zhongguancun Street, Haidian District, Beijing 100081, China

November 10, 2015
December 10, 2015
Online released:
March 18, 2016
March 20, 2016
nonsingular terminal sliding mode control, adaptive control, finitetime convergence, switch function

This paper presents an adaptive nonsingular terminal sliding mode control algorithm with a modified switch function for a 6-DOF manipulator with unknown modeling errors and external disturbances. The finitetime convergence of the controller is analyzed using Lyapunov stability theory. The algorithm avoids singular problems and estimates the upper bound of system uncertainties. A modified switch function is used to achieve precise tracking and reduce chattering in control torque. Finally, the effectiveness of the control method is verified through simulation.

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Last updated on Mar. 28, 2017