A Finite-Time Sliding Mode Control Approach for Constrained Euler–Lagrange System

A Finite-Time Sliding Mode Control Approach for Constrained Euler–Lagrange System

This paper investigates a general control strategy to track the reference trajectory for the constrained Euler–Lagrange system with model uncertainties and unknown external disturbances. Unlike the disturbances assumed to be upper-bounded by a constant in other papers, we consider the disturbances t...

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Bibliographic Details
Main Authors: Guhao Sun, Qingshuang Zeng
Format: Article
Language:English
Published: MDPI AG 2023-06-01
Series:Mathematics
Subjects:
Euler–Lagrange system
terminal sliding mode control
control barrier function
nonsingularity
finite-time convergence
Online Access:https://www.mdpi.com/2227-7390/11/12/2788

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