Adaptive Fast Nonsingular Fixed-Time Tracking Control for Robot Manipulators
This paper studies the fixed-time trajectory tracking control problem of robot manipulators in the presence of uncertain dynamics and external disturbances. First, a novel nonsingular fixed-time sliding mode surface is presented, which can ensure that the convergence time of the suggested surface is...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi-Wiley
2021-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2021/6629993 |