Practical torque sensorless super-twisting control of manipulators based on a novel integral non-singular fast terminal sliding mode with fixed-time convergence.
Mohammad YazdaniSoheil GanjefarPublished in: Adv. Robotics (2023)
Keyphrases
- sliding mode
- control algorithm
- control law
- control strategy
- variable structure
- adaptive control
- control method
- control system
- control scheme
- control theory
- sliding mode controller
- sliding mode control
- adaptive fuzzy
- nonlinear systems
- trajectory tracking
- stability analysis
- visual servoing
- lyapunov stability
- optimal control
- fuzzy controller
- sliding surface
- tracking error
- closed loop
- dynamic model
- induction motor
- robot manipulators
- motion planning
- lyapunov function
- robotic systems
- feedback control
- real time
- mathematical model
- master slave
- iterative learning control
- fuzzy neural network
- adaptive neural
- inverted pendulum
- convergence rate
- fuzzy logic controller