Tansig type NLESO-based integral terminal sliding mode control for modular robot manipulators with uncertain disturbance: Theory and experimental verification

To overcome the mutual constraints between the system chattering and the arrival time in conventional sliding mode control in this paper, a tangent excitation function (tansig) type nonlinear extended state observer (NLESO)-based integral terminal sliding mode control is proposed to solve the trajec...

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Veröffentlicht in:	Transactions of the Institute of Measurement and Control 2024-01, Vol.46 (2), p.395-406
Hauptverfasser:	Dong, Bo, Cao, Yuxin, Cui, Yiming, Wang, Tianhe, An, Tianjiao
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive control Algorithms Closed loops Control tasks Coupling Design parameters Dynamic models Manipulators Robot arms Robot control Sliding mode control State observers Tracking control Trajectory control
Online-Zugang:	Volltext
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