Phase Trajectory Analysis Of Non-Singular Terminal Sliding Mode Controlled Flexible Manipulator

IECON 2018 - 44TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY(2018)

引用 0|浏览17
暂无评分
摘要
For a non-singular terminal sliding mode (NTSM) controlled two-link flexible manipulator, this paper investigates the phase trajectories starting from different original states and gives the existence of a critical surface determining whether the system convergences to the equilibrium point in a short path. By using the output redefinition method, the system is first decomposed into a zero dynamic subsystem and an input-output subsystem-the stability of the former is guaranteed by pole placement technique, while a NTSM controller is designed for the latter to realize its finite time convergence and better control performance. Then twelve possible original states and their corresponding phase trajectories are discussed, proving the distribution rule of phase trajectory. Simulations validates the proposed analysis.
更多
查看译文
关键词
non-singular terminal sliding mode, flexible manipulator, phase trajectory, stability
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络