Predefined-time Terminal Sliding Mode Control of Robot Manipulators

25 Apr 2020 Liang Chang-Duo Ge Ming-Feng Liu Zhi-Wei Wang Yan-Wu Karimi Hamid Reza

In this paper, we present a new terminal sliding mode control to achieve predefined-time stability of robot manipulators. The proposed control is developed based on a novel predefined-time terminal sliding mode (PTSM) surface, on which the states are forced to reach the origin in a predefined time, i.e., the settling time is independent to the initial condition and can be explicitly user-defined via adjusting some specific parameters called the predefined-time parameters... (read more)

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