Tansig type NLESO-based integral terminal sliding mode control for modular robot manipulators with uncertain disturbance: Theory and experimental verification
Abstract:To overcome the mutual constraints between the system chattering and the arrival time in conventional sliding mode control in this paper, a tangent excitation function (tansig) type nonlinear extended state observer (NLESO)-based integral terminal sliding mode control is proposed to solve the trajectory tracking control task of the modular robot manipulators (MRMs) possessing strong coupling and complex time-varying properties. Through the joint torque feedback technology, the MRM system dynamic model is formu… Show more
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