Novel sliding mode control of the manipulator based on a nonlinear disturbance observer

Abstract To achieve high-performance trajectory tracking for a manipulator, this study proposes a novel sliding mode control strategy incorporating a nonlinear disturbance observer. The observer is designed to estimate unknown models in real-time, enabling feedforward compensation for various uncert...

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Bibliografske podrobnosti

Principais autores:	Keyou Guo, Haoze Zhang, Caili Wei, Haibing Jiang, Jiangnan Wang
Format:	Artigo
Jezik:	Inglês
Izdano:	Nature Portfolio 2024-12-01
Serija:	Scientific Reports
Teme:	Robotic manipulator Trajectory tracking Nonlinear disturbance observer Backstepping global fast terminal sliding mode control Chatter vibration suppression
Online dostop:	https://doi.org/10.1038/s41598-024-77125-y
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