A novel hybrid observer‐based model‐free adaptive high‐order terminal sliding mode control for robot manipulators with prescribed performance
Minxuan Zha,
Haoping Wang,
Yang Tian
et al.
Abstract:Although widely used in industrial applications, strong nonlinearity and coupling, high computational complexity prevent high precision tracking control of manipulator. In this paper, to overcome the rely on system model and achieve prescribed convergence, a novel hybrid observer‐based model‐free adaptive high‐order fast terminal sliding model control scheme (HO‐MHTSMC) with prescribed performance is proposed for trajectory tracking control of robot manipulators in the existence of friction and external distur… Show more
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