Finite-Time Tracking Control in Robotic Arm with Physical Constraints Under Disturbances
This paper proposes a novel control algorithm for robotic manipulators with unknown nonlinearities and external disturbances. Explicit consideration is given to the physical constraints on joint positions and velocities, ensuring tracking performance without violating prescribed constraints. Finite-...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-07-01
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| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/13/15/2336 |
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