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- W2969630007 abstract "In this paper, an adaptive high-order sliding mode controller-observer is proposed for multi input–multi output uncertain systems with application to robotic manipulators. Firstly, a type-2 Takagi-Sugeno fuzzy system is used to model the original system. Next, with the unavailability of velocity measurement, a fuzzy high-order sliding mode observer is designed to estimate both the joint velocities and uncertainties. Moreover, based on a super twisting second-order sliding mode, the proposed robust controller generates smooth control and guarantees finite-time convergence to the third-order sliding set with respect to the sliding variable by keeping second-order sliding mode constraint. The controller gains are generated based on an adaptive estimation scheme without overestimation. The finite-time stability of the suggested controller is proved by using an homogeneous and strict Lyapunov function. Finally, the obtained simulation results for two-link robot manipulators demonstrate the effectiveness of the proposed controller." @default.
- W2969630007 created "2019-08-29" @default.
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- W2969630007 date "2019-08-22" @default.
- W2969630007 modified "2023-10-16" @default.
- W2969630007 title "Adaptive high‐order sliding mode controller‐observer for MIMO uncertain nonlinear systems" @default.
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- W2969630007 doi "https://doi.org/10.1002/asjc.2167" @default.
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