Adaptive nonsingular terminal sliding mode control of robot manipulator based on contour error compensation
Abstract To achieve accurate contour tracking of robotic manipulators with system uncertainties, external disturbance and actuator faults, a cross-coupling contour adaptive nonsingular terminal sliding mode control (CCCANTSMC) is proposed. A nonsingular terminal sliding mode manifold is developed wh...
Gorde:
| Egile Nagusiak: | , , , |
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| Formatua: | Artigo |
| Hizkuntza: | Inglês |
| Argitaratua: |
Nature Portfolio
2023-01-01
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| Saila: | Scientific Reports |
| Sarrera elektronikoa: | https://doi.org/10.1038/s41598-023-27633-0 |
| Etiketak: |
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