| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 6868257 | Robotics and Computer-Integrated Manufacturing | 2015 | 9 Pages |
Abstract
This paper presents a new adaptive fast terminal sliding mode tracking control scheme for nonlinear teleoperation system. With the use of the terminal sliding mode technique, the faster and high-precision synchronization performances between the master and the slave are achieved. In the absence of the knowledge for the system uncertainties, an adaptive sliding mode controller is presented. A robust term is employed to compensate the adaptive estimation error. The tracking errors converge to zero in finite time with the new controller. Finally, simulations are presented to show the effectiveness of the proposed approach.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Yana Yang, Changchun Hua, Xinping Guan,