Adaptive Backstepping Decoupled Fast Terminal Sliding Mode Control for Underactuated Systems Under Uncertainties and Actuator Faults
This paper presents an Adaptive Backstepping Decoupled Fast Terminal Sliding Mode Control (ABDFTSMC) framework for underactuated nonlinear systems with coupled dynamics. Traditional sliding mode control methods often suffer from chattering, reliance on conservative uncertainty bounds, and inefficien...
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| Main Author: | |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2025-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/11029217/ |
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