Fast terminal sliding mode tracking control of nonlinear uncertain mass–spring system with experimental verifications
Saeed Amirkhani (University of Guilan)
Saleh Mobayen (University of Zanjan)
Nahal Iliaee (University of Zanjan)
Olfa Boubaker (Université de Carthage)
Hassan Hossein Nia Kani (TU Delft - Mechanical Engineering)
More Info
expand_more
Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.
Abstract
In this article, a fast terminal sliding mode control technique is used for robust tracking control of a nonlinear uncertain mass–spring system in the existence of external perturbation. This system is considered as a benchmark problem in the flexible joint mechanisms. The joints flexibility in the robotic systems creates one of the most significant sources of parametric uncertainties. The theory of Lyapunov stability is used for the formulation of the proposed control method, and the presence of the sliding around the switching surface is satisfied in the finite time. Simulation results as well as the experimental verifications prove the efficiency and applicability of the suggested approach in the presence of parametric uncertainty, noise, and exterior disturbance.
help_outline