Global Fast Terminal Sliding Mode Control of Underwater Manipulator Based on Finite-Time Extended State Observer
This study investigates the trajectory-tracking control problem of a two-degree-of-freedom underwater manipulator operating in a complex disturbance environment. A dynamic model of the multi-link serial manipulator is first established. In this study, water resistance and additional mass forces acti...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-05-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/13/6/1038 |
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