首页|New Findings Reported from Harbin Institute of Technology Describe Advances in Robotics (A Novel Faster Fixed-time Adaptive Control for Robotic Systems With Input Saturation)
New Findings Reported from Harbin Institute of Technology Describe Advances in Robotics (A Novel Faster Fixed-time Adaptive Control for Robotic Systems With Input Saturation)
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NETL
NSTL
IEEE
Investigators publish new report on Robotics. According to news reporting originating in Harbin, People’s Republic of China, by NewsRx journalists, research stated, “In this article, an adaptive antisaturation fixedtime control method with a faster convergence rate is studied for uncertain robotic systems. First, a new segmental sliding variable is constructed to solve the singularity problem brought by the terminal sliding mode control (TSMC) and achieve a faster convergence rate.” Funders for this research include National Natural Science Foundation of China (NSFC), Natural Science Foundation of Heilongjiang Province, China Postdoctoral Science Foundation, Postdoctoral Initial Funding of Heilongjiang Province, Self-Planned Task of State Key Laboratory of Robotics and System (HIT). The news reporters obtained a quote from the research from the Harbin Institute of Technology, “Second, to approximate and compensate for the model uncertainty and the viscous friction parameter, an adaptive neural network (ANN) is employed. Then, a novel auxiliary system is constructed to mitigate the effects of input saturation. Based on this, a novel nonsingular TSMC algorithm integrated with the ANN and the auxiliary system is designed, so that the trajectory tracking errors of the robotic system can converge within a faster fixed time with actuator saturation.”
HarbinPeople’s Republic of ChinaAsiaEmerging TechnologiesMachine LearningRoboticsRobotsHarbin Institute of Technology
NETL
NSTL
IEEE
