Chattering-Free Second Order Sliding Mode Based Finite-Time Control of a Robot Manipulator Considering Uncertainty and Disturbance

This paper presents a finite-time tracking control for a robot manipulator in the presence of a modeling uncertainty and an external disturbance. To solve the large chattering phenomenon that is caused by the high switching gain of the sliding-mode control, a novel second-order sliding-mode controll...

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Principais autores:	Yook Hyun Yoon, Jae Min You, Jahng Hyon Park
פורמט:	Artigo
שפה:	Inglês
יצא לאור:	Korean Society for Precision Engineering 2018-04-01
סדרה:	한국정밀공학회지
נושאים:	second order sliding mode control robust differentiator finite-time stability lyapunov stability analysis robot manipulator
גישה מקוונת:	http://jkspe.or.kr/upload/pdf/NODE07409581.pdf
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