Dual terminal sliding mode control design for rigid robotic manipulator

DOI10.1016/j.jfranklin.2017.01.034zbMath1404.93010OpenAlexW2584868608MaRDI QIDQ1634450

Guanghui Sun, Zhiqiang Ma

Publication date: 18 December 2018

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2017.01.034

zbMATH Keywords

robotic manipulatordual terminal sliding mode control

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (5)

Nonsingular fractional-order integral fast-terminal sliding mode control for underactuated shipboard cranes ⋮ Inverse-dynamics- and disturbance-observer-based tube model predictive tracking control of uncertain robotic manipulator ⋮ Continuous fuzzy nonsingular terminal sliding mode control of flexible joints robot manipulators based on nonlinear finite time observer in the presence of matched and mismatched uncertainties ⋮ A novel controller for nonlinear uncertain systems using a combination of SDRE and function approximation technique: regulation and tracking of flexible-joint manipulators ⋮ A sliding mode control with nonlinear fractional order PID sliding surface for the speed operation of surface-mounted PMSM drives based on an extended state observer

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