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Adaptive nonsingular terminal sliding mode control of robot manipulator based on contour error compensation

To achieve accurate contour tracking of robotic manipulators with system uncertainties, external disturbance and actuator faults, a cross-coupling contour adaptive nonsingular terminal sliding mode control (CCCANTSMC) is proposed. A nonsingular terminal sliding mode manifold is developed which elimi...

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Detalles Bibliográficos
Autores principales:	Dachang, Zhu, Pengcheng, Huang, Baolin, Du, Puchen, Zhu
Formato:	Online Artículo Texto
Lenguaje:	English
Publicado:	Nature Publishing Group UK 2023
Materias:	Article
Acceso en línea:	https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9823000/ https://www.ncbi.nlm.nih.gov/pubmed/36609532 http://dx.doi.org/10.1038/s41598-023-27633-0

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