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Barrier Lyapunov Function-Based Sliding Mode Control for Guaranteed Tracking Performance of Robot Manipulator

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  • Seong Ik Han
  • Jeong Yun Cheong
  • Jang Myung Lee

Abstract

We propose a decentralized error-bounded sliding mode control mechanism that ensures the prescribed tracking performance of a robot manipulator. A tracking error-transformed sliding surface was constructed and the barrier Lyapunov function (BLF) was used to ensure the transient and steady-state time performance of the positioning function of a robot manipulator as well as satisfy the ordinary sliding mode control properties. Unknown nonlinear functions and approximation errors are estimated by the RBF network and adaptive compensator. The effectiveness of the proposed control scheme was determined by comparing the results of an experiment evaluation with those of the conventional sliding mode control (SMC) and finite-time terminal sliding mode control (FTSMC) methods.

Suggested Citation

  • Seong Ik Han & Jeong Yun Cheong & Jang Myung Lee, 2013. "Barrier Lyapunov Function-Based Sliding Mode Control for Guaranteed Tracking Performance of Robot Manipulator," Mathematical Problems in Engineering, Hindawi, vol. 2013, pages 1-9, November.
    • Handle: RePEc:hin:jnlmpe:978241
    DOI: 10.1155/2013/978241
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    Cited by:

    1. Dapeng Wang & Shaogang Liu & Youguo He & Jie Shen, 2021. "Barrier Lyapunov Function-Based Adaptive Back-Stepping Control for Electronic Throttle Control System," Mathematics, MDPI, vol. 9(4), pages 1-14, February.

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