Robust Adaptive Sliding-Mode Control of a Permanent Magnetic Spherical Actuator With Delay Compensation

Robust Adaptive Sliding-Mode Control of a Permanent Magnetic Spherical Actuator With Delay Compensation

This study proposes an adaptive robust sliding-mode control strategy with time delay compensation to address the issues of the inaccuracy of modeling, friction, uncertain disturbances, and time delay in a permanent magnet spherical actuator trajectory tracking control system. First, an improved line...

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Bibliographic Details
Main Authors: Xiwen Guo, Kaida Pan, Qunjing Wang, Yan Wen
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Adaptive control
delay compensation
linear predictor
permanent magnet spherical actuator
robust sliding mode control
trajectory tracking
Online Access:https://ieeexplore.ieee.org/document/9137255/

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