Tracking control of a robotic system with deferred constraints and actuator faults
Abstract This paper proposes an adaptive sliding mode tracking control for a robotic manipulator to guarantee a deferred performance under input non‐linearities and external perturbations. Control inputs of the robotic manipulator are entrapped into saturation and failures simultaneously. A common m...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-06-01
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| Series: | IET Control Theory & Applications |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/cth2.12120 |