Adaptive Non-singular Terminal Sliding Mode Fault-tolerant Control of Robotic Manipulators Based on Contour Error Compensation

To achieve accurate contour tracking of robotic manipulators with dynamic uncertainties, coupling and actuator faults, an adaptive non-singular terminal sliding mode control (ANTSMC) based on cross-coupling is proposed. Firstly, the singularity is eliminated completely by using a terminal sliding mo...

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Veröffentlicht in:	arXiv.org 2021-10
Hauptverfasser:	Zhu Dachang, Du Baolin, Cui Aodong, Zhu Puchen
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Adaptive control Contours Control stability Cross coupling End effectors Error compensation Fault tolerance Manipulators Robot arms Robot control Robotics Sliding mode control Strategy Tracking Trajectory control Trajectory planning Uncertainty
Online-Zugang:	Volltext
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