@inproceedings{41edfd46fd67432abd1af391b1bb9960,
title = "Convergence time estimation of flexible manipulator control system with NTSM",
abstract = "This paper focuses on the transient analysis for a two-link flexible manipulator under the control of non-singular terminal sliding mode (NTSM), and proposes a convergence time estimation method with difficulties of non-minimum phase and the uncontrolled reaching motion. To overcome the first problem, the system is decomposed into a zero dynamic subsystem and an input-output subsystemthe stability of the former is guaranteed by pole placement, while a NTSM controller is designed for the latter to realize its finite time convergence and better control performance. The relationship between the initial point and the sliding mode reaching time is explored, and further the convergence time is estimated to overcome the second problem. Simulations validate the proposed method.",
keywords = "Flexible manipulator, Initial point, Non-singular terminal sliding mode, Stability, Transient performance",
author = "Yanmin Wang and Qinyuan Xu and Chuanjian Zhou and Hongwei Xia",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 ; Conference date: 20-10-2018 Through 23-10-2018",
year = "2018",
month = dec,
day = "26",
doi = "10.1109/IECON.2018.8592856",
language = "英语",
series = "Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "5624--5629",
booktitle = "Proceedings",
address = "美国",
}