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• W3084291215 abstract "This paper proposes an adaptive chattering-free fast non-singular terminal sliding mode(CFNTSM) control approach for the trajectory tracking of robotic manipulators system with deadzone. In order to ensure that the system states can converge to origin in finite time and avoid singularities in control law, a chattering-free fast non-singular terminal sliding mode controller is designed. Moreover, continuous control signals are obtained by means of replacing sign(·) with sat(·) in control law, and resulting in the elimination of chattering. Considering external disturbances and parameter uncertainties frequently occur in practical application, an adaptive law is introduced to compensate them. Finally, simulation results validate the effectiveness of the proposed control strategy." @default.
• W3084291215 created "2020-09-14" @default.
• W3084291215 creator A5044274599 @default.
• W3084291215 creator A5051126370 @default.
• W3084291215 date "2020-07-01" @default.
• W3084291215 modified "2023-09-25" @default.
• W3084291215 title "Adaptive Fast Non-singular Terminal Sliding Mode Control for Robotic Manipulators with Deadzone" @default.
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• W3084291215 doi "https://doi.org/10.23919/ccc50068.2020.9188397" @default.
• W3084291215 hasPublicationYear "2020" @default.
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