Approximate continuous fixed-time terminal sliding mode control with prescribed performance for uncertain robotic manipulators

doi:10.1007/s11071-022-07650-w

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	Approximate continuous fixed-time terminal sliding mode control with prescribed performance for uncertain robotic manipulators
	H. Y. Sai; Z. B. Xu; C. K. Xia and X. Y. Sun
	2022
发表期刊	Nonlinear Dynamics
ISSN	0924-090X
卷号	110 期号:1 页码:431-448
摘要	This paper studies an approximate continuous fixed-time terminal sliding mode control (CFTSMC) with prescribed performance for uncertain robotic manipulators. A transformation concerning tracking error using a fixed-time prescribed performance function is proposed to guarantee the transient and steady-state performance of trajectory tracking control for uncertain robotic manipulators within fixed time. Utilizing the transformed error, a smooth fixed-time sliding mode surface is designed. Then, based on the proposed sliding mode surface, an approximate CFTSMC scheme is presented to achieve inherent chattering-free control for uncertain robotic manipulators. According to the Lyapunov stability theory, it is proved that the position tracking error can be bounded in the prescribed performance boundaries and globally converges to a defined small region within fixed time and then approaches exponentially to the origin. Several numerical simulation results demonstrate the effectiveness and superiority of the proposed control strategy for uncertain robotic manipulators.
DOI	10.1007/s11071-022-07650-w
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收录类别	sci ; ei
语种	英语
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文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/66426
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	H. Y. Sai,Z. B. Xu,C. K. Xia and X. Y. Sun. Approximate continuous fixed-time terminal sliding mode control with prescribed performance for uncertain robotic manipulators[J]. Nonlinear Dynamics,2022,110(1):431-448.
APA	H. Y. Sai,Z. B. Xu,&C. K. Xia and X. Y. Sun.(2022).Approximate continuous fixed-time terminal sliding mode control with prescribed performance for uncertain robotic manipulators.Nonlinear Dynamics,110(1),431-448.
MLA	H. Y. Sai,et al."Approximate continuous fixed-time terminal sliding mode control with prescribed performance for uncertain robotic manipulators".Nonlinear Dynamics 110.1(2022):431-448.

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