TL;DR
Simulations encompassing aggressive manipulator motion with payloads, abrupt external disturbance injection and removal, model mismatches, composite sensor-noise corruption, and heavy-object transportation with additional position feedback noise validate the framework’s superiority in disturbance estimation accuracy and robust anti-disturbance performance.
CarSim-Simulink-based co-simulation results validate the effectiveness of the proposed fixed-time prescribed-performance path tracking control method in improving both path tracking accuracy and stability.
With the rapid development of modern industry, robotic manipulators are required to achieve increasingly high trajectory-tracking accuracy and robustness in practical applications. To enhance tracking performance under complex operating conditions, this paper proposes an Adaptive Model Predictive Control with Sliding-M...
Comprehensive comparative simulations demonstrate that the proposed composite learning-based finite-time nonsingular terminal sliding mode control (CL-FNTSMC) achieves superior tracking accuracy, faster convergence, and markedly improved disturbance rejection compared with conventional NTSMC, adaptive fast NTSMC, and P...
An adaptive proximate fixed-time terminal sliding mode control (FTTSMC) based on time-delay estimation (TDE) based on time-delay estimation (TDE) is proposed to ensure high-precision trajectory tracking of robot manipulators subject to unknown dynamics and external disturbances.
This study presents an adaptive sliding mode control approach for trajectory tracking of a quadrotor unmanned aerial vehicle functioning under external interference and kinematic unpredictability. Linear and rotational motion equations formulated in inactive local coordinate system frames are developed with the aid of...
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