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...
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| Autori principali: | , , , |
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| Natura: | Artigo |
| Lingua: | Inglês |
| Pubblicazione: |
MDPI AG
2024-04-01
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| Serie: | Sensors |
| Soggetti: | |
| Accesso online: | https://www.mdpi.com/1424-8220/24/9/2783 |
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