Adaptive Super-Twisting Sliding Mode Control for Robot Manipulators with Input Saturation

The paper investigates a modified adaptive super-twisting sliding mode control (ASTSMC) for robotic manipulators with input saturation. To avoid singular perturbation while increasing the convergence rate, a modified sliding mode surface (SMS) is developed in this method. Using the proposed SMS, an...

Ausführliche Beschreibung

Bibliografische Detailangaben

Hauptverfasser:	Chenghu Jing, Hui Zhang, Yafeng Liu, Jing Zhang
Format:	Artigo
Sprache:	Inglês
Veröffentlicht:	MDPI AG 2024-04-01
Schriftenreihe:	Sensors
Schlagworte:	robot manipulators robust adaptive super twisting sliding mode input saturation finite time
Online-Zugang:	https://www.mdpi.com/1424-8220/24/9/2783
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