Adaptive nonsingular terminal sliding mode control of robot manipulator based on contour error compensation

HIGHLIGHTS

• who: Zhu Dachang from the SchoolGuangzhou University have published the paper: Adaptive nonsingular terminal sliding mode control of robot manipulator based on contour error compensation, in the Journal: Scientific Reports Scientific Reports
• what: In this paper, a cross-coupling contour adaptive nonsingular terminal sliding mode control (CCCANTSMC) is proposed for the issue of precise contour tracking of the robotic manipulator in the presence of system uncertainties, external disturbance, and actuator faults.
• how: The experimental results are shown to prove the effectiveness of the proposed control strategy.
• future: It is necessary to . . .
  

   

  

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