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- W4387423222 abstract "This paper investigates the fixed-time control problem of an n degrees of freedom ( $$n-$$ DOF) robotic manipulators subject to uncertain dynamics and external disturbances. We propose a uniform robust exact differentiator (URED) observer to compensate for the lumped disturbances. Using the observer states, we then design a fixed-time stabilizer for the concerned system by the approach of adding a power integrator (AAPI). Both observer and tracking errors can be proven converge to zero in a fixed-time. Numerical simulations are carried out to illustrate the control algorithm." @default.
- W4387423222 created "2023-10-08" @default.
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- W4387423222 date "2023-01-01" @default.
- W4387423222 modified "2023-10-18" @default.
- W4387423222 title "Fixed-Time Tracking Control for Robotic Manipulators Based on Adding a Power Integrator Method" @default.
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- W4387423222 doi "https://doi.org/10.1007/978-981-99-6847-3_28" @default.
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