Non-Singular Fast Terminal Sliding Mode Control With Disturbance Observer for Underactuated Robotic Manipulators

This paper proposes a novel non-singular fast terminal sliding control technique for underactuated robotic manipulators. The proposed approach combines the robustness properties of sliding mode-based control approaches with the approximation accuracy of disturbance observers to suppress both matched...

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Номзүйн дэлгэрэнгүй

Үндсэн зохиолчид:	Saleh Mobayen, Soheila Mostafavi, Afef Fekih
Формат:	Artigo
Хэл сонгох:	Inglês
Хэвлэсэн:	IEEE 2020-01-01
Цуврал:	IEEE Access
Нөхцлүүд:	Underactuated robotic systems fast terminal sliding mode control non-singular control disturbance observer finite-time convergence
Онлайн хандалт:	https://ieeexplore.ieee.org/document/9244121/
Шошгууд:	Шошго нэмэх Шошго байхгүй, Энэхүү баримтыг шошголох эхний хүн болох!