Fixed-Time Sliding Mode Control for Robotic Manipulators Based on Disturbance Observer

Fixed-Time Sliding Mode Control for Robotic Manipulators Based on Disturbance Observer

A novel controller using fixed-time sliding mode (FTSM) and fixed-time disturbance observer (FTDO) is proposed to achieve trajectory tracking control of robotic manipulators. First, the mathematical model is established for robots with dynamic model uncertainties and external disturbances. An FTSM c...

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Bibliographic Details
Main Authors: Tianli Li, Gang Zhang, Tan Zhang, Jing Pan
Format: Article
Language:English
Published: Wiley 2024-01-01
Series:International Journal of Aerospace Engineering
Online Access:http://dx.doi.org/10.1155/2024/1263459
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