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自动化学报 2005
机器人操作器有限时间跟踪中继切换控制, PP. 412-418 Keywords: Finitetimetracking,relayswitchingcontroller,terminalslidingmode(TSM),variablestructurecontrol Abstract: ？Aglobalrelayswitchingcontrolschemewithfinitetimeconvergence(FTC)isproposedformulti-jointrigidroboticmanipulatorsystemswithuncertaindynamics.Forageneralfinitetimecontroller,thecontrolsignalsmaytendtoinfinityinfinitetimewhentheinitialstatesofthesystemareinsomespecifiedarea,causingthesingularityproblemoftheclosed-loopsystemandfiniteescape.Thedesignschemeforfinitetimetrackingcontrolusesarelayswitchingcontrolmethodsothattheboundednessofthecontrolsignalisguaranteedandthesingularityphenomenonisavoided.Thevalidityofourschemeisdemonstratedbysimulationresults.
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