Non-singular terminal sliding mode control of rigid manipulators (Q1858357)
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scientific article; zbMATH DE number 1868211
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Non-singular terminal sliding mode control of rigid manipulators |
scientific article; zbMATH DE number 1868211 |
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Non-singular terminal sliding mode control of rigid manipulators (English)
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13 February 2003
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The authors present a global nonsingular terminal sliding mode (NTSM) controller for a class of nonlinear dynamical systems with parameter uncertainties and external disturbances. A NTSM manifold is proposed to overcome the singularity problems. The proposed NTSM controller is applied to the control of \(n\)-degree-of-freedom rigid manipulators.
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variable structure systems
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automated systems
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singularity problems
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robot dynamics and control
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rigid manipulators
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