控制理论(社会学)
沉降时间
观察员(物理)
滑模控制
李雅普诺夫函数
计算机科学
Lyapunov稳定性
机械手
趋同(经济学)
理论(学习稳定性)
控制工程
工程类
控制(管理)
非线性系统
人工智能
机器学习
物理
阶跃响应
经济
量子力学
经济增长
作者
Huayang Sai,Zhenbang Xu,Tianyu Han,Xiaoming Wang,Hang Li
标识
DOI:10.1177/10775463221138327
摘要
This paper studies a free-will arbitrary time sliding mode control (FATSMC) based on the predefined-time sliding mode observer (PTSMO) for tracking control of robotic manipulators. First, a PTSMO is constructed to estimate the coupled uncertainty of the robotic manipulator system in a preset time. Then, a FATSMC scheme is proposed to realize the free-will arbitrary time tracking control for uncertain robotic manipulators and preset the upper bound on the settling time in the reaching phase. The proposed control strategy has high tracking accuracy and smooth control torque, while the convergence time of the system is nonconservative. The stability of the FATSMC and the PTSMO are rigorously demonstrated using the Lyapunov stability theory. Finally, a three-degree-of-freedom uncertain manipulator is utilized for numerical simulation. The effectiveness and superiority of the proposed control strategy are demonstrated by comparing it with several control strategies.
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