首页|Researchers from School of Intelligent Manufacturing Discuss Findings in Robotic s (Fixed-Time Sliding Mode Control for Robotic Manipulators Based on Disturbance Observer)
Researchers from School of Intelligent Manufacturing Discuss Findings in Robotic s (Fixed-Time Sliding Mode Control for Robotic Manipulators Based on Disturbance Observer)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – Research findings on robotics are disc ussed in a new report. According to news reporting from the School of Intelligen t Manufacturing by NewsRx journalists, research stated, “A novel controller usin g fixed-time sliding mode (FTSM) and fixed-time disturbance observer (FTDO) is p roposed to achieve trajectory tracking control of robotic manipulators.” Funders for this research include West Anhui University. Our news editors obtained a quote from the research from School of Intelligent M anufacturing: “First, the mathematical model is established for robots with dyna mic model uncertainties and external disturbances. An FTSM control strategy is p resented where the integral terms of position errors are introduced into the exi sting sliding mode surface (SMS) to reduce the steady-state error of the system. The exponential form in the integral terms can provide an appropriate control f orce for tracking systems when the position errors are far from the sliding surf ace for a long time. Then, an FTDO is designed to obtain a precise estimation of lumped disturbances which can be used to weaken the impact of disturbances on t he control accuracy. Finally, the fixed-time convergence properties of the track ing control system are demonstrated using Lyapunov stability theory.”
School of Intelligent ManufacturingEme rging TechnologiesMachine LearningRoboticsRobots
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