Observer-Based Finite-Time Prescribed Performance Sliding Mode Control of Dual-Motor Joints-Driven Robotic Manipulators with Uncertainties and Disturbances
Jiqian Xu,
Lijin Fang,
Huaizhen Wang
et al.
Abstract:Considering system uncertainties (e.g., gear backlash, unmodeled dynamics, nonlinear friction and parameters perturbation) coupling disturbances weaken the motion performance of robotic systems, an observer-based finite-time prescribed performance sliding mode control with faster reaching law is proposed for robotic manipulators equipped with dual-motor joints (DMJs). In the case where the backlash information is completely unknown, the backlash is maximally eliminated using a simple but efficient dual-motor a… Show more
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