文献类型：期刊文献

英文题名：Observer-based adaptive second-order non-singular fast terminal sliding mode controller for robotic manipulators

作者：Liu, Haitao[1,2];Sun, Jian[1];Nie, Jianhao[1];Zou, Lanping[1]

机构：[1]Guangdong Ocean Univ, Sch Mech & Power Engn, Zhanjiang 524088, Peoples R China;[2]Southern Marine Sci & Engn Guangdong Lab Zhanjian, Zhanjiang, Peoples R China

年份：2021

卷号：23

期号：4

起止页码：1845

外文期刊名：ASIAN JOURNAL OF CONTROL

收录：SCI-EXPANDED(收录号：WOS:000545424200001)、、EI(收录号：20202808921092)、Scopus(收录号：2-s2.0-85087567005)、WOS

基金：Science and Technology Planning Project of Zhanjiang City, Grant/Award Numbers: 2018A01019, 2017A03005, 2017A02025; Fostering Plan for Major Scientific Research Projects of Education Department of Guangdong ProvinceCharacteristic Innovation Projects, Grant/Award Number: 2017KTSCX087; Fund of Southern Marine Science and Engineering Guangdong Laboratory (Zhanjiang), Grant/Award Number: ZJW-2019-01; Provincial Financial Special Funds Construction Project, Grant/Award Number: 231419019; Natural Science Foundation of Guangdong Province in China, Grant/Award Number: 2018A0303130076

语种：英文

外文关键词：Adaptive control; Ameliorative high-gain observer; Robotic manipulators; Second-order non-singular fast terminal control

外文摘要：In this paper, a second-order non-singular fast terminal sliding mode controller is proposed for robotic manipulators in the presence of uncertainties and disturbances. Adaptive control is used to obtain robustness to system uncertainties and disturbances. The improved high-gain observer is designed to estimate the speed information, which makes the controller more applicable in practice. Theorem proof and simulations demonstrate the effectiveness of the proposed controller.