Article ID Journal Published Year Pages File Type
4948736 Robotics and Autonomous Systems 2017 26 Pages PDF
Abstract
Control of uncertain nonlinear systems is one of the main topics in automation, control problem. However, uncertainties caused by uncertain parameters, load variations, unmodeled dynamics and external disturbances affect the control performance. This paper investigates the problem of high accuracy joint space trajectory tracking. A discrete-time second order sliding mode combined with time delay estimation is designed to make the joint positions track a desired trajectory with high accuracy. In addition, sufficient condition assuring convergence of the error to zero in finite time based on Lyapunov theory is presented. Experiments on a 7-DOF ANAT robot arm are presented to verify the performance of the proposed controller.
Related Topics
Physical Sciences and Engineering Computer Science Artificial Intelligence
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