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Improved Fixed Time Preset Performance Sliding Mode Control for Robotic Manipulator

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成果类型:
期刊论文、会议论文
作者:
Xingyu Deng;Haifei Chen;Lijun Li
作者机构:
[Xingyu Deng; Haifei Chen; Lijun Li] School of Mechanical and Electrical Engineering, Central South University of Forestry and Technology, Changsha, China
语种:
英文
关键词:
Fixed-time control;Prescribed performance control;Barrier Lyapunov function;Sliding mode control
期刊:
Proceedings of the IEEE International Conference on Industrial Technology
ISSN:
2641-0184
年:
2024
页码:
1-6
会议名称:
2024 IEEE International Conference on Industrial Technology (ICIT)
会议论文集名称:
2024 IEEE International Conference on Industrial Technology (ICIT)
会议时间:
25 March 2024
会议地点:
Bristol, United Kingdom
出版者:
IEEE
ISBN:
979-8-3503-4027-3
机构署名:
本校为第一机构
院系归属:
机电工程学院
摘要:
This paper investigates the tracking control problem of robot manipulators with complex uncertainties and proposes an improved fixed-time nonsingular terminal sliding mode performance control (IFTSMPPC) method. Firstly, the barrier Lyapunov function and the prescribed performance function are used to jointly constrain the error state, and the prescribed performance function is used to constrain the transient and steady-state performance of the system. In addition, non singular terminal sliding mode control is incorporated into a fixed time control framework to improve system stability and conv...

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