Robust Fixed-Time Inverse Dynamic Control for Uncertain Robot Manipulator System
This paper proposes a novel robust fixed-time control for the robot manipulator system with uncertainties. Based on the uniform robust exact differentiator (URED) algorithm, a robust control term is constructed. Then, a robust fixed-time inverse dynamics control (IDC) is proposed. For the proposed c...
| 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/10.1155/2021/6664750 |