Terminal sliding mode control of robot manipulators for PTP task

  • Park, Kang-Bark (Department of Electrical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Lee, Ju-Jang (Department of Electrical Engineering, Korea Advanced Institute of Science and Technology)
  • Published : 1995.10.01

Abstract

In this paper, a variable structure control scheme with a terminal sliding mode is proposed for robot manipulators. The proposed control scheme guarantees that the output tracking error converges to zero in finite time, and the overall system shows robust property against parametric uncertainties and external disturbances all the time.