Adaptive Sliding-Mode Disturbance Observer-Based Finite-Time Control for Unmanned Aerial Manipulator With Prescribed Performance.
Yanjie ChenJiacheng LiangYangning WuZhiqiang MiaoHui ZhangYaonan WangPublished in: IEEE Trans. Cybern. (2023)
Keyphrases
- tracking error
- robot manipulators
- sliding mode
- control law
- trajectory tracking
- control scheme
- closed loop
- sliding mode control
- control system
- external disturbances
- sliding mode controller
- control strategy
- variable structure
- sliding surface
- control theory
- nonlinear systems
- adaptive control
- control method
- lyapunov function
- dynamic model
- control algorithm
- path planning
- feedback control
- visual servoing
- optimal control
- adaptive neural
- mathematical model
- fuzzy controller
- adaptive fuzzy
- iterative learning control
- vision system
- artificial neural networks