Fractional‐order fixed‐time sliding mode control of robotic manipulators with robust exact differentiator
Xinsheng Wang,
Bin Jiang,
Tong Yao
et al.
Abstract:This paper introduces a robust position tracking control structure of exoskeleton robots (ERs). An open environment and body flexibility are the main challenges in ER control system design. First, a fractional‐order nonsingular terminal sliding mode (FONTSM) controller is proposed for a robotic manipulator with uncertainty, where lumped unknown dynamics are computed by time‐delay estimation (TDE). Secondly, a robust exact differentiator (RED) is employed as the output feedback observer for the velocity sensorl… Show more
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