Practical finite-time adaptive sliding mode control for 5-link biped robot in the presence of uncertainty

DOI10.1080/00207179.2022.2079564MaRDI QIDQ6134213zbMATH OpenOpenAlexFDO

Authors Fatemeh Sedghi, Mohammad M. Arefi, Mohammad Hassan Asemani, Navid Vafamand

Publication date 25 July 2023

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179.2022.2079564

zbMATH Keywords

5-link biped robotadaptive lawfinite-time convergenceinput saturationpractical finite-time stability

Mathematics Subject Classification ID

Variable structure systems (93B12) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Finite-time stability (93D40)

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Cites work

• Adaptive neural control for an uncertain robotic manipulator with joint space constraints
• Adaptive neural network output feedback control for flexible multi-link robotic manipulators
• Adaptive nonsingular fast terminal sliding mode control for underwater manipulator robotics with asymmetric saturation actuators
• Adaptive PID-like fault-tolerant control for robot manipulators with given performance specifications
• Attitude stabilization of rigid spacecraft with finite-time convergence
• Development of a Complete Dynamic Model of a Planar Five-Link Biped and Sliding Mode Control of Its Locomotion During the Double Support Phase
• Enhancing precision performance of trajectory tracking controller for robot manipulators using RBFNN and adaptive bound
• ESO based sliding mode control for the welding robot with backstepping
• Finite time command filtered adaptive fault tolerant control for a class of uncertain nonlinear systems
• Finite-time stabilization of periodic orbits for under-actuated biped walking with hybrid zero dynamics
• Nonlinear systems.
• Robust adaptive sliding mode attitude maneuvering and vibration damping of three-axis-stabilized flexible spacecraft with actuator saturation limits
• Robust nonlinear control schemes for finite-time tracking objective of a 5-DOF robotic exoskeleton

Cited in

(1)

• Design and control of a 3D clutch-driven semi-passive bipedal walking robot using backstepping fractional-order terminal sliding mode with adaptive barrier function

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