Direct control of the endpoint of the manipulator under non-smooth uncertainty and reference trajectories

DOI10.1016/J.JFRANKLIN.2023.10.001MaRDI QIDQ6136419zbMATH OpenOpenAlexFDO

Authors Aleksey S. Antipov, Julia G. Kokunko, Svetlana A. Krasnova, V. A. Utkin, A. V. Utkin

Publication date 17 January 2024

Published in Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.jfranklin.2023.10.001

Mathematics Subject Classification ID

Linearizations (93B18) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15)

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Cites work

• A tracking differentiator based on Taylor expansion
• Adaptive continuous higher order sliding mode control
• Block approach to analysis and design of the invariant nonlinear tracking systems
• Continuous fuzzy nonsingular terminal sliding mode control of flexible joints robot manipulators based on nonlinear finite time observer in the presence of matched and mismatched uncertainties
• Continuous output feedback sliding mode control for underactuated flexible-joint robot
• Decomposition synthesis of the control system of electromechanical objects in conditions of incomplete information
• Hierarchical design of sigmoidal generalized moments of manipulator under uncertainty
• High-gain observers in nonlinear feedback control
• Nonlinear Feedback Design for Fixed-Time Stabilization of Linear Control Systems
• Reaction wheel pendulum control using fourth‐order discontinuous integral algorithm
• Robust block decomposition sliding mode control design
• Robust exact differentiation via sliding mode technique
• Second-order sliding mode controller design with output constraint
• Sigma function in observer design for states and perturbations
• Synthesis of invariant nonlinear single-channel sigmoid feedback tracking systems ensuring given tracking accuracy

Cited in

(3)

• Robust adaptive predictive digital controller with integral action for set-point regulation of saturated uncertain systems
• Synthesis of robust tracking systems with fulfillment of specified constraints on state variables, control and reference actions
• Data-driven adaptive optimal output tracking with assured convergence rate

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