Adaptive nonsingular fast terminal sliding mode control for underwater manipulator robotics with asymmetric saturation actuators

DOI10.1007/S11768-020-9127-0zbMath1463.93169OpenAlexW3002223059WikidataQ126305706 ScholiaQ126305706MaRDI QIDQ5129620

Ruikun Xu, Lijun Han, Guoyuan Tang, Zengcheng Zhou, Hui Huang

Publication date: 27 October 2020

Published in: Control Theory and Technology (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11768-020-9127-0

zbMATH Keywords

sliding mode controlfinite time stabilityGaussian error functionasymmetric saturationunderwater manipulator

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12)

Related Items (3)

Robust cooperative tracking of multiagent systems with asymmetric saturation actuator via output feedback ⋮ Practical finite-time adaptive sliding mode control for 5-link biped robot in the presence of uncertainty ⋮ Uncertainty and velocity observer-based predefined-time nonsingular terminal sliding mode control of the underwater robot manipulators

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