吉林大学学报(工学版) ›› 2014, Vol. 44 ›› Issue (3): 735-741.doi: 10.13229/j.cnki.jdxbgxb201403025

• Orignal Article • Previous Articles     Next Articles

Non-singular fast terminal sliding mode control method for 6-DOF manipulator

HU Li-kun,MA Wen-guang,ZHAO Peng-fei,LU Zi-guang   

  1. College of Electrical Engineering, Guangxi University, Nanning 530004, China
  • Received:2012-12-07 Online:2014-03-01 Published:2014-03-01

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Abstract: First, the singularity problem is analyzed in the conventional fast terminal sliding mode controller when applied to six-axe harmonious motion control of the 6-DOF manipulator. Then, a non-singular fast terminal sliding mode controller is proposed, and the stability of the control system is proved using the Lyapunov theory. The non-singular fast terminal sliding mode controller is applied to six-axe harmonious motion control of the 6-DOF manipulator. The results illustrate that the non-singular fast terminal sliding mode method can improve the stability, accuracy, convergence speed and robustness of the position and orientation control of 6-DOF manipulator.

Key words: automatic control technology, 6-DOF manipulator, the non-singular fast terminal sliding mode control, Lyapunov theory

CLC Number: 

  • TP242.2
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