Haitao Liu, Jian Sun, Jianhao Nie, Guan‐Wei Chen, Lanping Zou
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引用次数: 1
Abstract
In this paper, an adaptive non-singular terminal sliding mode controller is proposed for robotic manipulators in the presence of uncertainties and disturbances. The adaptive control is used to obtain robustness to system uncertainties and disturbances. In addition, the high-gain observer is employed to estimate the speed information, which make the controller more applicable in practice. Theorem proof and simulations demonstrate the effectiveness of the proposed controller.
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