Trajectory tracking robust control method based on finite-time convergence of manipulator with nonsingular fast terminal sliding mode surface (Q2084510)
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scientific article; zbMATH DE number 7603139
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Trajectory tracking robust control method based on finite-time convergence of manipulator with nonsingular fast terminal sliding mode surface |
scientific article; zbMATH DE number 7603139 |
Statements
Trajectory tracking robust control method based on finite-time convergence of manipulator with nonsingular fast terminal sliding mode surface (English)
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18 October 2022
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A tracking problem for manipulators with disturbances and uncertainties is considered. Sliding surfaces are introduced, and a corresponding control law is proposed. It is shown that an equilibrium point is reached, and the tracking error converges in finite time, which is explicitly computed. An example is presented.
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variable structure systems
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tracking problem for manipulators
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finite-time stability
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