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Non-singular terminal sliding mode control of rigid manipulators. (English) Zbl 1015.93006
The authors present a global nonsingular terminal sliding mode (NTSM) controller for a class of nonlinear dynamical systems with parameter uncertainties and external disturbances. A NTSM manifold is proposed to overcome the singularity problems. The proposed NTSM controller is applied to the control of \(n\)-degree-of-freedom rigid manipulators.

93B12 Variable structure systems
93C85 Automated systems (robots, etc.) in control theory
70E60 Robot dynamics and control of rigid bodies
93C73 Perturbations in control/observation systems
Full Text: DOI
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