Adaptive Super-Twisting Sliding Mode Control for Robot Manipulators with Input Saturation

Adaptive Super-Twisting Sliding Mode Control for Robot Manipulators with Input Saturation

The paper investigates a modified adaptive super-twisting sliding mode control (ASTSMC) for robotic manipulators with input saturation. To avoid singular perturbation while increasing the convergence rate, a modified sliding mode surface (SMS) is developed in this method. Using the proposed SMS, an...

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Bibliographic Details
Main Authors: Chenghu Jing, Hui Zhang, Yafeng Liu, Jing Zhang
Format: Article
Language:English
Published: MDPI AG 2024-04-01
Series:Sensors
Subjects:
robot manipulators
robust adaptive
super twisting
sliding mode
input saturation
finite time
Online Access:https://www.mdpi.com/1424-8220/24/9/2783

Internet

https://www.mdpi.com/1424-8220/24/9/2783

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