Fast Terminal Sliding Control of Underactuated Robotic Systems Based on Disturbance Observer with Experimental Validation
نویسندگان
چکیده
In this study, a novel fast terminal sliding mode control technique based on the disturbance observer is recommended for stabilization of underactuated robotic systems. The finite time employed to estimate exterior disturbances system and develop law. proposed controller can regulate state trajectories systems origin within in existence external disturbances. stability analysis scheme verified via Lyapunov theory. designed law enough drive switching surface achieving against severe model nonlinearities with large parametric uncertainties Illustrative simulation results experimental validations cart-inverted pendulum are provided display success efficacy offered method.
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ژورنال
عنوان ژورنال: Mathematics
سال: 2021
ISSN: ['2227-7390']
DOI: https://doi.org/10.3390/math9161935