| Title: | OS13-3 Continuous Non-singular Fast Terminal Sliding Mode Control for an Active Gravity Field Simulator |
|---|---|
| Publication: | ICAROB2017 |
| Volume: | 22 |
| Pages: | 392-395 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2017.OS13-3 |
| Author(s): | Jiao Jia, Yingmin Jia, Shihao Sun |
| Publication Date: | January 19, 2017 |
| Keywords: | gravity field simulator, fast terminal sliding mode, robustness, finite-time stability |
| Abstract: | In this study, a global non-singular fast terminal sliding mode controller (FTSMC) is designed for an active gravity field simulator (AGFS). The stability of the control algorithm can be easily verified by using Lyapunov theory. It is shown that the proposed controller can eliminate the chattering effect without losing the robustness property. Simulation results show that faster and high-precision tracking performance can be obtained compared with the conventional continuous sliding mode control method. |
| PDF File: | https://alife-robotics.co.jp/members2017/icarob/data/html/data/OS_pdf/OS13/OS13-3.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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