Trajectory Tracking for a Dual-Arm Free-Floating Space Robot With a Class of General Nonsingular Predefined-Time Terminal Sliding Mode.
Yicheng LiuWen YanTao ZhangChunxiao YuHaiyan TuPublished in: IEEE Trans. Syst. Man Cybern. Syst. (2022)
Keyphrases
- trajectory tracking
- sliding mode
- closed loop
- stability analysis
- robot manipulators
- bi directional
- dynamic model
- control law
- variable structure
- control system
- iterative learning
- physical constraints
- sliding mode control
- control strategy
- control method
- visual servoing
- control scheme
- iterative learning control
- neural network controller
- control theory
- nonlinear systems
- adaptive control
- experimental data
- mobile robot
- neural network structure
- real time
- position and orientation