Fast Terminal Sliding Control of Underactuated Robotic Systems Based on Disturbance Observer with Experimental Validation

Fast Terminal Sliding Control of Underactuated Robotic Systems Based on Disturbance Observer with Experimental Validation

In this study, a novel fast terminal sliding mode control technique based on the disturbance observer is recommended for the stabilization of underactuated robotic systems. The finite time disturbance observer is employed to estimate the exterior disturbances of the system and develop the finite tim...

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Bibliographic Details
Main Authors: Thaned Rojsiraphisal, Saleh Mobayen, Jihad H. Asad, Mai The Vu, Arthur Chang, Jirapong Puangmalai
Format: Article
Language:English
Published: MDPI AG 2021-08-01
Series:Mathematics
Subjects:
disturbance observer
fast terminal sliding mode
finite time convergence
Lyapunov stability
underactuated robotic system
Online Access:https://www.mdpi.com/2227-7390/9/16/1935

Internet

https://www.mdpi.com/2227-7390/9/16/1935

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