Optimal adaptive barrier-function super-twisting nonlinear global sliding mode scheme for trajectory tracking of parallel robots
Compared to serial robots, parallel robots have potential superiorities in rigidity, accuracy, and ability to carry heavy loads. On the other hand, the existence of complex dynamics and uncertainties makes the accurate control of parallel robots challenging. This work proposes an optimal adaptive ba...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2023-02-01
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| Series: | Heliyon |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2405844023005856 |