Trajectory Tracking Control of Manipulator Terminal Sliding Mode Based on Improved Power Reaching Law
To solve the problems of chattering,slow convergence speed and singularity of the traditional terminal sliding mode in control for manipulator trajectory tracking,a finite-time non-singular terminal sliding mode control strategy based on improved power reaching law is proposed.Firstly,an improved power reaching law is developed,which can converge quickly and eliminate initial system chattering,and its finite-time convergence characteristic is analyzed and verified.Secondly,a fast non-singular terminal sliding mode surface is proposed,which enables the system error to converge to zero in a finite time.On this basis,the fast non-singular terminal sliding mode controller for manipulator trajectory tracking is designed based on improved power reaching law,and it is performed the Lyapunov stability analysis.Simulation results show that the controller can track the expected trajectory precisely and enable the tracking error to converge to the equilibrium point in finite time,which reduces the system chattering effectively.Compared with the ordinary non-singular terminal sliding mode controller with fast power reaching law,it possesses a faster convergence speed and better control effect.
manipulatorterminal sliding modeimproved power reaching lawtrajectory trackingchattering
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