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• W4313136908 abstract "This paper proposes a new-type finite-time disturbance observer (FTDO) in conjunction with backstepping sliding mode control (B-SMC) method, which is aimed to decrease the influence of external disturbances and uncertainties on the tracking performance of the system. Concretely, first of all, a FTDO is established to observe disturbance. Afterwards, a B-SMC is designed, and the double-power reaching law is developed to reduce chattering generated by sliding mode switch item, which obtains better dynamic quality in sliding mode approach stage and the characteristic of finite time convergence. Finally, some results for a two-joint manipulator illustrate the effectiveness of the developed control technique." @default.
• W4313136908 created "2023-01-06" @default.
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• W4313136908 date "2022-07-25" @default.
• W4313136908 modified "2023-10-13" @default.
• W4313136908 title "A novel sliding mode control for robotic manipulator based on finite-time disturbance observer" @default.
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• W4313136908 doi "https://doi.org/10.23919/ccc55666.2022.9901927" @default.
• W4313136908 hasPublicationYear "2022" @default.
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