Enhanced tracking control for n-DOF robotic manipulators: A fixed-time terminal sliding mode approach with time delay estimation
This work proposes a fixed-time terminal sliding mode control scheme with time delay estimation (FxTSM-TDE) for unknown nonlinear robotic systems under uncertainties and unknown bounded disturbances. The idea of the fixed-time terminal sliding mode control method (FxTSM) is thoroughly explained and...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2024-12-01
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| Series: | Results in Engineering |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2590123024011599 |
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