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Fixed-time terminal sliding mode control for uncertain robot manipulators
ISA TransactionsThis paper proposes a fixed-time tracking control for robot manipulators in the presence of parametric uncertainties and disturbances. An auxiliary function is first proposed for constructing a fixed-time sliding manifold. Benefited from this fixed-time sliding manifold, a singularity-free robust control is proposed to evade the effects of algebraic ...
Liyin Zhang +3 more
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Fixed-time nonsingular terminal sliding mode control for spacecraft rendezvous
2017 29th Chinese Control And Decision Conference (CCDC), 2017This paper presents a fixed-time nonsingular terminal sliding mode control methodology for spacecraft rendezvous in the presence of nonlinearity and external disturbance. A nonsingular terminal sliding surface is constructed and a continuous sinusoidal function is introduced into the controller to solve the inherent singularity problem.
Jingwei Dong +3 more
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International Journal of Robust and Nonlinear Control
In this paper, a fixed‐time sliding mode control is studied for a robotic manipulator with prescribed performance constraints and input saturation. Specifically, the proposed scheme uses RESO to estimate the lumped disturbances, including modeling errors
Zhechen Wang, Yang Liu
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In this paper, a fixed‐time sliding mode control is studied for a robotic manipulator with prescribed performance constraints and input saturation. Specifically, the proposed scheme uses RESO to estimate the lumped disturbances, including modeling errors
Zhechen Wang, Yang Liu
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On Fixed-Time Convergent Sliding Mode Control Design and Applications
2020This chapter discusses an algorithm to provide arbitrary-order fixed-time convergent SMC design. Through numerical simulation and comparative study, it is shown that in the proposed algorithm, the convergence speed does not depend on the initial condition.
Jyoti Mishra, Xinghuo Yu
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Asian journal of control, 2023
Considering that in the trajectory tracking control of a nonlinear robotic manipulator system, the control effect is easily limited by the initial state of the system, and the system has modeling error, unknown disturbance, and friction in the actual ...
Ran Shi, Xin Zhang, Zijun Zhu
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Considering that in the trajectory tracking control of a nonlinear robotic manipulator system, the control effect is easily limited by the initial state of the system, and the system has modeling error, unknown disturbance, and friction in the actual ...
Ran Shi, Xin Zhang, Zijun Zhu
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Fixed-Time Stabilization via Second Order Sliding Mode Control
IFAC Proceedings Volumes, 2012Abstract The paper addresses the finite-time stabilization problem with possible predefining of the convergence time independently on the initial conditions. The corresponding extension of finite-time stability concept is called by fixed-time stability.
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Angular rate stabilization using fixed-time continuous sliding mode control
2019 Sixth Indian Control Conference (ICC), 2019This paper proposes a novel fault-tolerant control algorithm for angular rate stabilization of satellite system. The control algorithm belongs to the class of super-twisting sliding mode control theorem applicable to relative degree one systems which ensures chattering free control input and also finite-time convergence.
null Salahudden +3 more
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Chattering analysis of uniform fixed-time convergent Sliding Mode Control
Journal of the Franklin Institute, 2017zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Panathula, Chandrasekhara Bharath +3 more
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Fixed-Time Terminal Sliding Mode Control for Quadrotor Aircraft
2019The fixed-time trajectory tracking problem of a quadrotor with six degrees of freedom (6-DOF) under bounded disturbances is investigated in this paper. The split-loop design method which divides the quadrotor into position subsystem and attitude subsystem is adopted.
Jie Wang +4 more
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IEEE Robotics and Automation Letters
This letter presents Neural-FxSMC, a robust and precise control scheme for quadrotors to counter unknown dynamics, uncertainties, and external disturbances.
Subhash Chand Yogi +2 more
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This letter presents Neural-FxSMC, a robust and precise control scheme for quadrotors to counter unknown dynamics, uncertainties, and external disturbances.
Subhash Chand Yogi +2 more
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