Disturbance observer based adaptive predefined-time sliding mode control for robot manipulators with uncertainties and disturbances

DOI10.1002/rnc.7628MaRDI QIDQ6646981

Fengyang Pan, Guofa Sun, Qingxi Liu, Jiaxin Zheng

Publication date: 3 December 2024

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

zbMATH Keywords

adaptive controlrobot manipulatorssingular problemdisturbance observerpredefined-time sliding surface

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12) Observers (93B53)

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