Adaptive Fixed-Time Tracking Control of Cart–Pendulum Robotic Systems with Bias Actuator Dynamics

Adaptive Fixed-Time Tracking Control of Cart–Pendulum Robotic Systems with Bias Actuator Dynamics

This research addresses the challenge of precise trajectory tracking for cart–pendulum robotic systems affected by unknown nonlinear actuator dynamics. We introduce a novel control framework that combines neural network modeling with adaptive parameter estimation to handle these complex dynamics. By...

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Bibliographic Details
Main Authors: Shuo Chen, Xuansen Zhao, Xiaozheng Jin, Hai Wang
Format: Article
Language:English
Published: MDPI AG 2025-05-01
Series:Actuators
Subjects:
robotic systems
trajectory tracking
bias actuator dynamics
fixed-time sliding mode control
Online Access:https://www.mdpi.com/2076-0825/14/5/245
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