Finite-Time Tracking Control of a Flexible Link Manipulator Based on an Extended State Observer

Finite-Time Tracking Control of a Flexible Link Manipulator Based on an Extended State Observer

In this paper, the finite-time trajectory tracking control problem of a flexible link manipulator (FLM) system with unknown parameters is investigated in joint space. An adaptive nonsingular terminal sliding mode (ANTSM) controller based on an extended state observer (ESO) is proposed to ensure that...

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Bibliographic Details
Main Authors: Feng Jing, Caiwen Ma, Meilin Xie, Fan Wang, Yu Cao, Xiao Fan
Format: Article
Language:English
Published: MDPI AG 2023-12-01
Series:Applied Sciences
Subjects:
flexible link manipulator (FLM)
extended state observer (ESO)
finite-time
parameter estimation
adaptive extended state observer
adaptive nonsingular terminal sliding mode (ANTSM)
Online Access:https://www.mdpi.com/2076-3417/13/24/13303

Internet

https://www.mdpi.com/2076-3417/13/24/13303

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