Non-Singular Fast Sliding Mode Control of Robot Manipulators Based on Integrated Dynamic Compensation

Non-Singular Fast Sliding Mode Control of Robot Manipulators Based on Integrated Dynamic Compensation

In order to realize the problem of tracking control of the trajectory of robot manipulators under variable load conditions, this paper proposes a non-singular fast terminal sliding mode tracking control design for robot manipulators based on integrated dynamic compensation. First, in the model, the...

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Bibliographic Details
Main Authors: Xinyi Wang, Xichang Liang, Shunjing Hu, Qianqian Xin
Format: Article
Language:English
Published: MDPI AG 2025-04-01
Series:Actuators
Subjects:
non-singular fast sliding mode control
robot manipulators
dynamic compensation
trajectory tracking
Online Access:https://www.mdpi.com/2076-0825/14/5/215
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