Non-singular terminal sliding mode control of rigid manipulators (Q1858357): Difference between revisions

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Non-singular terminal sliding mode control of rigid manipulators
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    Non-singular terminal sliding mode control of rigid manipulators (English)
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    13 February 2003
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    The authors present a global nonsingular terminal sliding mode (NTSM) controller for a class of nonlinear dynamical systems with parameter uncertainties and external disturbances. A NTSM manifold is proposed to overcome the singularity problems. The proposed NTSM controller is applied to the control of \(n\)-degree-of-freedom rigid manipulators.
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    variable structure systems
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    automated systems
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    singularity problems
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    robot dynamics and control
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    rigid manipulators
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