Adaptive fast terminal sliding mode control of robotic manipulators based on joint torque estimation and friction compensation
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Publication:6646968
DOI10.1002/rnc.7624MaRDI QIDQ6646968
Xichang Liang, Yi Wan, Shunjing Hu
Publication date: 3 December 2024
Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)
flexible jointsfriction compensationadaptive fast terminal sliding mode controlcollaborative robotic manipulatorsjoint torque estimation
Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12)
Cites Work
- PD control with on-line gravity compensation for robots with elastic joints: theory and experiments
- Continuous finite-time control for robotic manipulators with terminal sliding mode
- Adaptive manipulator control: A case study
- Practical adaptive fractional‐order nonsingular terminal sliding mode control for a cable‐driven manipulator
- A new practical robust control of cable‐driven manipulators using time‐delay estimation
- Extended sliding mode observer‐based high‐accuracy motion control for uncertain electro‐hydraulic systems
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