Disturbance observer based adaptive predefined‐time sliding mode control for robot manipulators with uncertainties and disturbances

This article develops a predefined‐time sliding mode control approach for systems with external disturbances and uncertainties through a nonlinear disturbance observer (DO). For addressing predefined‐time stabilization problem of robotic manipulator system, a predefined‐time sliding mode surface is...

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Veröffentlicht in:	International journal of robust and nonlinear control 2024-12, Vol.34 (18), p.12349-12374
Hauptverfasser:	Sun, Guofa, Liu, Qingxi, Pan, Fengyang, Zheng, Jiaxin
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive control Adaptive systems disturbance observer Disturbance observers Manipulators Nonlinear control Nonlinear systems predefined‐time sliding surface Robot arms Robot control robot manipulators singular problem Sliding mode control Uncertainty
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