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In this paper, we developed a new observer based output feedback (OFB) tracking controller for rigid-link robot manipulators. Specifically, a model independent variable structure like observer structure in conjunction with the use of desired system dynamics in the controller design have been utilized to remove the link velocity dependency of the controller and the asymptotic stability of the observer-controller...
A finite time control method based on terminal sliding mode (TSM) is presented for satellite attitude control system in this paper. Using the concepts of finite time stability and TSM, a finite time stable sliding mode is designed, and then a continuous TSM finite time controller using the inverse dynamic method is designed for the second-order dynamic system of the satellite. In order to eliminate...
An adaptive hierarchical sliding-mode control (AHSMC) strategy for a class of second-order underactuated systems is presented. First, the whole system is divided into two subsystems. A first-level sliding surface is defined for each subsystem. Then a second-level sliding surface is defined for these two-level sliding surfaces. The AHSMC law is derived in Lyapunov sense when the uncertainties are bounded...
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