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• W2801605529 abstract "This paper presents an improved robust tracking control for uncertain robot manipulators. An approximate fast terminal sliding mode control is proposed by integrating a nonsingular fast terminal sliding surface with an exponential reaching law. Lyapunov stability theory is employed to prove the global approximate finite-time stability ensuring that the tracking errors converge to an arbitrary small ball centered at zero within a finite time and thereafter arrive at zero asymptotically. The benefits of this integrated design are that it can ensure faster transient and higher steady-state tracking precision with lower chattering. Simulations and experiments are presented to demonstrate the effectiveness and improved performances of the proposed approach." @default.
• W2801605529 created "2018-05-17" @default.
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• W2801605529 date "2018-05-08" @default.
• W2801605529 modified "2023-09-24" @default.
• W2801605529 title "A nonsingular fast terminal sliding mode control with an exponential reaching law for robot manipulators" @default.
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• W2801605529 doi "https://doi.org/10.1177/0954406218773776" @default.
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