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- W2395392600 abstract "This paper studies practical tracking control design of robot manipulators with continuous fractional-order nonsingular terminal sliding mode (CFONTSM) based on time-delay estimation (TDE). The proposed control design requires no detailed information about the robot dynamics, leading to an attractive model-free nature thanks to TDE, and ensures fast convergence and high tracking precision under heavy lumped uncertainties due to the FONTSM surface and fast-TSM-type reaching law. Stability of the closed-loop system and finite-time convergence are analyzed using Lyapunov stability theory. Comparative 2-DOF (degree of freedom) simulation and experiment results show that the proposed control design can ensure higher tracking precision and faster convergence compared with TDE-based continuous integer-order NTSM (CIONTSM) design in a wide range of speed; meanwhile, better performance is also observed compared with TDE-based IONTSM and FONTSM control designs using a boundary layer technique." @default.
- W2395392600 created "2016-06-24" @default.
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- W2395392600 date "2016-10-01" @default.
- W2395392600 modified "2023-10-17" @default.
- W2395392600 title "Practical Tracking Control of Robot Manipulators With Continuous Fractional-Order Nonsingular Terminal Sliding Mode" @default.
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- W2395392600 doi "https://doi.org/10.1109/tie.2016.2569454" @default.
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