Finite-Time Output Control for Uncertain Robotic Manipulators With Time-Varying Output Constraints
This paper proposes a finite-time output controller to realize the tracking control of n degrees of freedom (n-DOF) manipulator, which can address the time-varying output constraints and uncertainties, such as modeling error, unknown frictions, and external disturbance. A nonlinear mapping is conduc...
Main Authors: | Duc Thien Tran, Hoai Vu Anh Truong, Maolin Jin, Kyoung Kwan Ahn |
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Format: | Article |
Language: | English |
Published: |
IEEE
2022-01-01
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Series: | IEEE Access |
Subjects: | |
Online Access: | https://ieeexplore.ieee.org/document/9940922/ |
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