Application of Combined Finite-time State-Dependent Riccati Equation Terminal Sliding Mode Control to Robotic Manipulators

Abstract

This paper investigates application of the terminal sliding mode control (TSMC) in conjunction with state-dependent differential Riccati equation (SDDRE) for robotic manipulators in finite time. Due to nature of the terminal sliding mode control, considering finite time as an input control parameter is impossible. Hence, the convergence time could not be determined before completing the task. However, in this method, finite-time gain which is obtained through partitioning and making symmetric positive definite SDDRE control gain is inserted into the sliding surface. This leads to completing the control task in the desired predetermined time. To highlight superiority of the finite-time SDRE-terminal sliding mode control as a robust optimal scheme, we compared with TSMC as a robust control through applying both methods to 3-DoF articulated-joint manipulator. Simulation results are fully discussed.