Adaptive finite-time synergetic control for flexible-joint robot manipulator with disturbance inputs

Adaptive finite-time synergetic control for flexible-joint robot manipulator with disturbance inputs

Introduction. In this paper, the adaptive finite time controller is designed for flexible-joint manipulator (FJM) to stabilize oscillations and track the desired trajectory based on synergetic control theory (SCT) under disturbance inputs. The problem of the proposed work consists in the development...

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Bibliographic Details
Main Authors: X. C. Nguyen, D. T. Le
Format: Article
Language:English
Published: National Technical University "Kharkiv Polytechnic Institute" 2025-05-01
Series:Electrical engineering & Electromechanics
Subjects:
flexible-joint manipulator
synergetic control theory
finite-time control
lyapunov function
adaptive control
Online Access:http://eie.khpi.edu.ua/article/view/323742/317132
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