Abstract:Prosthetic humanoid manipulators manufacturing requires light overall weight, small size, compact structure, and low cost to realize wearing purpose. These requirements constrain hardware configuration conditions and aggravate the nonlinearity and coupling effects of manipulators. A dynamic fractional-order nonsingular terminal super-twisting sliding mode (DFONTSM-STA) control is proposed to realize multi-joints coordination for a low-cost humanoid manipulator. This method combines a dynamic fractional-order n… Show more
“…Also, the original schemes of controllers do not need to be changed for realizing the proposed algorithms. R. Hu et al in [8] investigate coupling effects and nonlinearity in manipulators by realizing multi-joints coordination in the robot. The main objective here is to exploit the benefits offered by dynamically combining two control techniques namely; supertwisting SMC and fractional-order non-singular terminal SMC.…”
Due to its inherent robustness and finite time convergence, sliding mode control (SMC) is extensively used for the control of nonlinear uncertain systems [...]
“…Also, the original schemes of controllers do not need to be changed for realizing the proposed algorithms. R. Hu et al in [8] investigate coupling effects and nonlinearity in manipulators by realizing multi-joints coordination in the robot. The main objective here is to exploit the benefits offered by dynamically combining two control techniques namely; supertwisting SMC and fractional-order non-singular terminal SMC.…”
Due to its inherent robustness and finite time convergence, sliding mode control (SMC) is extensively used for the control of nonlinear uncertain systems [...]
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