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Global finite‐time cooperative control for multiple manipulators using integral sliding mode control
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Van, Mien, Sam Ge, Shuzhi and Ceglarek, Dariusz (2022) Global finite‐time cooperative control for multiple manipulators using integral sliding mode control. Asian Journal of Control, 24 (6). pp. 2862-2876. doi:10.1002/asjc.2706 ISSN 1561-8625.
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WRAP-Global-finite‐time-cooperative-control-for-multiple-manipulators-using-integral-sliding-mode-control-Ceglarek-22.pdf - Accepted Version - Requires a PDF viewer. Download (1214Kb) | Preview |
Official URL: http://dx.doi.org/10.1002/asjc.2706
Abstract
In this paper, a global finite-time cooperative control is first time proposed for cooperative multiple manipulators. The proposed control scheme is developed based on an integration between a finite-time disturbance observer (FTDO) and a finite-time integral sliding mode controller (FTISMC) to get a high robustness against the effects of the model uncertainties and disturbances in the system. The switching term of the integral sliding mode controller is reconstructed such that the desired sliding manifold can be convergent in a finite time. The nominal controller of the integral sliding mode control is developed based on an advanced backstepping control, namely, finite-time backstepping control, which also provides a finite time convergence. The integration of the finite-time disturbance observer, finite-time switching term, and the finite-time backstepping controller forms a new global finite-time integral sliding mode control. The effectiveness of the proposed approach is demonstrated based on a cooperative control of a dual two-link manipulators.
Item Type: | Journal Article | ||||||||||
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Subjects: | T Technology > T Technology (General) T Technology > TJ Mechanical engineering and machinery T Technology > TS Manufactures |
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Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) | ||||||||||
Library of Congress Subject Headings (LCSH): | Robots, Industrial , Robotics, Motion control devices , Sliding mode control, Manipulators (Mechanism) | ||||||||||
Journal or Publication Title: | Asian Journal of Control | ||||||||||
Publisher: | Wiley-Blackwell Publishing Ltd. | ||||||||||
ISSN: | 1561-8625 | ||||||||||
Official Date: | November 2022 | ||||||||||
Dates: |
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Volume: | 24 | ||||||||||
Number: | 6 | ||||||||||
Number of Pages: | 15 | ||||||||||
Page Range: | pp. 2862-2876 | ||||||||||
DOI: | 10.1002/asjc.2706 | ||||||||||
Status: | Peer Reviewed | ||||||||||
Publication Status: | Published | ||||||||||
Reuse Statement (publisher, data, author rights): | This is the peer reviewed version of the following article: Van, Mien, Sam Ge, Shuzhi and Ceglarek, Dariusz (2022) Global finite‐time cooperative control for multiple manipulators using integral sliding mode control. Asian Journal of Control . doi:10.1002/asjc.2706, which has been published in final form at http://dx.doi.org/10.1002/asjc.2706. This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Use of Self-Archived Versions. This article may not be enhanced, enriched or otherwise transformed into a derivative work, without express permission from Wiley or by statutory rights under applicable legislation. Copyright notices must not be removed, obscured or modified. The article must be linked to Wiley’s version of record on Wiley Online Library and any embedding, framing or otherwise making available the article or pages thereof by third parties from platforms, services and websites other than Wiley Online Library must be prohibited | ||||||||||
Access rights to Published version: | Restricted or Subscription Access | ||||||||||
Copyright Holders: | Chinese Automatic Control Society and John Wiley & Sons Australia | ||||||||||
Date of first compliant deposit: | 6 July 2022 | ||||||||||
Date of first compliant Open Access: | 9 March 2023 | ||||||||||
RIOXX Funder/Project Grant: |
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