Finite time extended state observer based nonsingular fast terminal sliding mode control of flexible-joint manipulators with unknown disturbance

DOI10.1016/J.JFRANKLIN.2022.10.028zbMath1506.93079OpenAlexW4311462824MaRDI QIDQ2680248

Yu Guo, Xiutao Gu, Liaoxue Liu, Mengqing Hong

Publication date: 30 January 2023

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

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2022.10.028

zbMATH Keywords

extended state observerfinite-time trajectory trackingterminal sliding mode controller

Mathematics Subject Classification ID

Variable structure systems (93B12) Observers (93B53) Finite-time stability (93D40)

Related Items (3)

Adaptive parameter learning and neural network control for uncertain permanent magnet linear synchronous motors ⋮ Prescribed-time formation control for wheeled mobile robots with time-varying super-twisting extended state observer ⋮ Cooperative control of NN super twisting sliding mode and EPH methods for uncertain nonlinear systems

Cites Work

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• Finite-time sliding mode attitude control for rigid spacecraft without angular velocity measurement
• Prescribed performance tracking control of a free-flying flexible-joint space robot with disturbances under input saturation
• 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
• Adaptive second order terminal sliding mode controller for robotic manipulators
• Modeling and Control of Elastic Joint Robots
• Finite-Time Stability of Continuous Autonomous Systems

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