文献类型：期刊文献

英文题名：Adaptive non-singular terminal sliding mode control with high-gain observers for robotic manipulators

作者：Liu, Haitao[1]; Sun, Jian[1]; Nie, Jianhao[1]; Chen, Guangjun[1]; Zou, Lanping[1]

机构：[1] School of Mechanical and Power Engineering, Guangdong Ocean University, Zhanjiang, 524000, China

年份：2019

起止页码：3547

外文期刊名：Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019

收录：EI(收录号：20194207534352)

语种：英文

外文摘要：In this paper, an adaptive non-singular terminal sliding mode controller is proposed for robotic manipulators in the presence of uncertainties and disturbances. The adaptive control is used to obtain robustness to system uncertainties and disturbances. In addition, the high-gain observer is employed to estimate the speed information, which make the controller more applicable in practice. Theorem proof and simulations demonstrate the effectiveness of the proposed controller. ? 2019 IEEE.