Adaptive Integral-Type Terminal Sliding Mode Tracker Based on Active Disturbance Rejection for Uncertain Nonlinear Robotic Systems With Input Saturation

This paper proposes an adaptive integral-type terminal sliding mode tracking control approach based on the active disturbance rejection for uncertain nonlinear systems subject to input saturation and external disturbances. Its main objective is to achieve zero tracking error in the presence of exter...

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Bibliographic Details
Main Authors: Hamede Karami, Khalid A. Alattas, Saleh Mobayen, Afef Fekih
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Online Access:https://ieeexplore.ieee.org/document/9539184/