首页|Research Conducted at School of Control Science and Engineering Has Updated Our Knowledge about Robotics (Fixed-time Nonsingular Terminal Sliding Mode Control f or Trajectory Tracking of Uncertain Robot Manipulators)
Research Conducted at School of Control Science and Engineering Has Updated Our Knowledge about Robotics (Fixed-time Nonsingular Terminal Sliding Mode Control f or Trajectory Tracking of Uncertain Robot Manipulators)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Current study results on Robotics have been published. According to news originating from Tianjin, People's Republic o f China, by NewsRx correspondents, research stated, "This paper investigates the fixed-time trajectory tracking problem for uncertain robot manipulators and pro poses a fixed-time nonsingular terminal sliding mode controller. First, an adapt ive disturbance observer is constructed to estimate the unknown lumped disturban ce in fixed-time." Financial support for this research came from National Natural Science Foundatio n of China (NSFC). Our news journalists obtained a quote from the research from the School of Contr ol Science and Engineering, "Then, a nonsingular terminal sliding mode surface i s developed by introducing the auxiliary function. Based on the designed sliding mode surface and disturbance observer, a continuous fixed-time nonsingular term inal sliding mode controller is designed to ensure that the upper bound of the c onvergence time is independent of system initial conditions. Rigorous stability is given by utilizing the Lyapunov theory." According to the news editors, the research concluded: "Finally, numerical simul ation results demonstrate the effectiveness and superiority of the proposed meth od."
TianjinPeople's Republic of ChinaAsi aEmerging TechnologiesMachine LearningRobotRoboticsSchool of Control S cience and Engineering
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