TY - JOUR
T1 - Fast terminal sliding mode tracking control of nonlinear uncertain mass–spring system with experimental verifications
AU - Amirkhani, Saeed
AU - Mobayen, Saleh
AU - Iliaee, Nahal
AU - Boubaker, Olfa
AU - Hossein Nia Kani, Hassan
PY - 2019
Y1 - 2019
N2 - 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.
AB - 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.
KW - Nonlinear mass–spring system
KW - fast terminal sliding mode
KW - Lyapunov theory
KW - finite time convergence
KW - uncertainties
UR - http://www.scopus.com/inward/record.url?scp=85061666217&partnerID=8YFLogxK
U2 - 10.1177/1729881419828176
DO - 10.1177/1729881419828176
M3 - Article
VL - 16
SP - 1
EP - 10
JO - International Journal of Advanced Robotic Systems
JF - International Journal of Advanced Robotic Systems
SN - 1729-8814
IS - 1
ER -