| FINITE TIME TRACKING CONTROL FOR RIGID ROBOTIC MANIPULATORS WITH FRICTION AND EXTERNAL DISTURBANCES |
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| 引用本文： | Guangdeng ZONG Yuqiang WU Lihua ZHANG Institute of Automation,Qufu Normal University Qufu,Shandong,273165,China. FINITE TIME TRACKING CONTROL FOR RIGID ROBOTIC MANIPULATORS WITH FRICTION AND EXTERNAL DISTURBANCES[J]. 系统科学与系统工程学报(英文版), 2005, 14(1): 115-125. DOI: 10.1007/s11518-006-0185-8 |
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| 作者姓名： | Guangdeng ZONG Yuqiang WU Lihua ZHANG Institute of Automation Qufu Normal University Qufu Shandong 273165 China |
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| 作者单位： | Guangdeng ZONG Yuqiang WU Lihua ZHANG Institute of Automation，Qufu Normal University Qufu，Shandong，273165，China |
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| 基金项目： | ThisworkwassupportedpartlybytheNationalNaturalScienceFoundationofChinaunderGrant60174042andtheNaturalScienceFoundationofShandongProvinceunderGrantY2003G02. |
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| 摘 要： | 1.Introduction Variable structure control is well known for its robustness to system uncertainties and external disturbances and has been successfully applied to the rigid robotic manipulator systems(Utkin(1992),Zinober(1990)).Generally,a linear sliding mode is firstly designed to describe the desired system error dynamics,a robust controller drives the switching plane variables to reach the sliding mode,and the error dynamics will asymptotically converge to zero on the linear sliding mode.Si…
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| 关 键 词： | 有限时间跟踪控制系统 机器人 操作系统 摩擦力 转换控制法 |
Finite time tracking control for rigid robotic manipulators with friction and external disturbances |
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| Guangdeng Zong,Yuqiang Wu,Lihua Zhang. Finite time tracking control for rigid robotic manipulators with friction and external disturbances[J]. Journal of Systems Science and Systems Engineering, 2005, 14(1): 115-125. DOI: 10.1007/s11518-006-0185-8 |
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| Authors: | Guangdeng Zong Yuqiang Wu Lihua Zhang |
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| Affiliation: | Institute of Automation, Qufu Normal University Qufu, Shandong, 273165, China |
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| Abstract: | The finite time tracking problem is considered for robotic manipulators with unknown dynamic friction, bounded disturbances and unmodeled dynamics. A global relay switching control scheme with finite time convergence is proposed. For general finite time variable structure controller, the control signals may escape to infinite in finite time when the initial states of the system are in some specified area, causing the singularity phenomena of the closed-loop system. The design scheme for finite time tracking control uses a two-phase switching control method so that the boundedness of the control signal is guaranteed and the singularity phenomena is avoided. |
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| Keywords: | Finite time convergence switch control singularity problem robotic manipulator systems |
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