Synchronization Sliding Mode Control of Closed-Kinematic Chain Robot Manipulators with Time-Delay Estimation

Synchronization Sliding Mode Control of Closed-Kinematic Chain Robot Manipulators with Time-Delay Estimation

Control of closed-kinematic chain manipulators (CKCM) with uncertain dynamics is a tremendous challenge due to the synchronization among actual joints and end-effectors, limited workspace, and nonexistent closed-form solutions of forward kinematics. This paper proposes a synchronization control sche...

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Bibliographic Details
Main Authors: Tu Thi Cam Duong, Charles C. Nguyen, Thien Duc Tran
Format: Article
Language:English
Published: MDPI AG 2022-05-01
Series:Applied Sciences
Subjects:
closed-kinematic chain manipulator (CKCM)
sliding mode control (SMC)
time-delay estimation (TDE)
nonsingular fast terminal sliding mode control (NFTSMC)
synchronization control
model-free control
Online Access:https://www.mdpi.com/2076-3417/12/11/5527

Internet

https://www.mdpi.com/2076-3417/12/11/5527

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