Fixed-Time Sliding Mode Control for Uncertain Robot Manipulators

Fixed-Time Sliding Mode Control for Uncertain Robot Manipulators

This paper presents a novel fixed-time sliding mode control for the global fixed-time trajectory tracking of robot manipulators subject to uncertain dynamics and bounded external disturbances. A fixed-time sliding surface is proposed and a singularity-free fixed-time sliding mode control (SFSMC) is...

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Bibliographic Details
Main Authors: Liyin Zhang, Youming Wang, Yinlong Hou, Hong Li
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Robot manipulators
sliding mode control
robust control
fixed-time stability
single inverted pendulum
Online Access:https://ieeexplore.ieee.org/document/8864048/

Internet

https://ieeexplore.ieee.org/document/8864048/

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