Finite-Time Dynamic Tracking Control of Parallel Robots with Uncertainties and Input Saturation

Finite-Time Dynamic Tracking Control of Parallel Robots with Uncertainties and Input Saturation

This paper considers the finite-time dynamic tracking control for parallel robots with uncertainties and input saturation via a finite-time nonsingular terminal sliding mode control scheme. A disturbance observer is designed to estimate the lumped disturbance in the dynamic model of the parallel rob...

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Bibliographic Details
Main Authors: Mengyang Ye, Guoqin Gao, Junwen Zhong, Qiuyue Qin
Format: Article
Language:English
Published: MDPI AG 2021-04-01
Series:Sensors
Subjects:
parallel robot
finite-time control
input saturation
auxiliary system
nonsingular terminal sliding mode
disturbance observer
Online Access:https://www.mdpi.com/1424-8220/21/9/2996

Internet

https://www.mdpi.com/1424-8220/21/9/2996

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