Adaptive funnel fast nonsingular terminal sliding mode control for robotic manipulators with dynamic uncertainties,Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

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Adaptive funnel fast nonsingular terminal sliding mode control for robotic manipulators with dynamic uncertainties
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science ( IF 1.8 ) Pub Date : 2020-12-14 , DOI: 10.1177/0954406220978269
Huaizhen Wang ₁ , Lijin Fang ₁ , Menghui Hu ₂ , Tangzhong Song ₁ , Jiqian Xu ₁

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In this paper, a novel adaptive funnel fast nonsingular terminal sliding mode control for robotic manipulators with dynamic uncertainties is proposed. A modified funnel variable is utilized to tran...

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