A Combined Backstepping Terminal Sliding Mode Algorithm Based Decentralized Control Scheme for Reconfigurable Manipulators
A decentralized control scheme based on a combined backstepping terminal sliding mode algorithm for reconfigurable manipulators is proposed. Based on Lyapunov stability theory, backstepping technique and terminal sliding mode are utilized in the first and second order of the subsystem respectively, the unknown terms and interconnection term are approximated or compensated by neural networks whose weights are updated with adaptive laws. For the serious chatter of the controller with the linear sliding mode, the terminal sliding mode replaced the linear sliding mode. In contrast, the method improves the convergence rate and the tracking accuracy, the control signal is smoother. Finally, the simulation results show the effectiveness of proposed scheme for different configurations with no need to modify any parameters.
Reconfigurable manipulators Decentralized control Backstepping technique Terminal sliding mode Neural networks
Bo Zhao Zhiqian Wang Yanfeng Qiao Keping Liu Yuanchun Li
State Key Laboratory of Automobile Dynamic Simulation, Jilin University,Changchun, 130022, China Dep Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences,Changchun, 13 Department of Control Engineering, Changchun University of Technology,Changchun, 130012, China
国际会议
天津
英文
657-668
2012-07-08（万方平台首次上网日期，不代表论文的发表时间）