@inproceedings{bf6401ba6c2143aea4b1edc886e2dbc7,
title = "Optimized continuous non-singular terminal sliding mode control of uncertain flexible manipulators",
abstract = "This paper proposes an optimized continuous non-singular terminal sliding mode (NTSM) control scheme for a class of two-link flexible manipulators with uncertain model parameters. Firstly the original system is transformed into the controllable minimum phase system using output redefinition with purpose to change its non-minimum phase dynamics and the corresponding input-output subsystem and zero dynamic subsystem can be obtained. Then a novel continuous NTSM controller by combining NTSM and high order sliding mode (HOSM) on the basis of relative degree and a genetic algorithm is designed to obtain its optimal control performances, respectively. Simulation results illustrate the correctness of the proposed scheme.",
keywords = "Non-singular terminal sliding mode, flexible manipulator, high order sliding mode, optimal control",
author = "Yanmin Wang and Yuqing Cao and Hongwei Xia",
note = "Publisher Copyright: {\textcopyright} 2015 Technical Committee on Control Theory, Chinese Association of Automation.; 34th Chinese Control Conference, CCC 2015 ; Conference date: 28-07-2015 Through 30-07-2015",
year = "2015",
month = sep,
day = "11",
doi = "10.1109/ChiCC.2015.7260163",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "3392--3397",
editor = "Qianchuan Zhao and Shirong Liu",
booktitle = "Proceedings of the 34th Chinese Control Conference, CCC 2015",
address = "美国",
}