Robust fast finite-time sliding mode control for industrial robot manipulators

In this work, a robust fast finite-time sliding mode control (RFFTSMC) approach is developed for industrial robot manipulator (IRM) system involved for tasks of interactive manipulation. The robust position tracking control is accomplished by the design of non-singular fast terminal sliding mode con...

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Veröffentlicht in:	International journal of dynamics and control 2019-06, Vol.7 (2), p.607-618
Hauptverfasser:	Gambhire, S. J., Sri Kanth, K. S., Malvatkar, G. M., Londhe, P. S.
Format:	Artikel
Sprache:	eng
Schlagworte:	Closed loops Comparative studies Complexity Control Control and Systems Theory Control stability Control theory Dynamical Systems Engineering Error reduction Feedback control Industrial robots Interactive control Interactive systems Manipulators Parameter uncertainty Robot arms Robot control Robust control Simulation Sliding mode control Stability augmentation Tracking control Tracking errors Vibration
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