Discrete-Time Sliding Mode Control Coupled with Asynchronous Sensor Fusion for Rigid-Link Flexible-Joint Manipulators

Discrete-Time Sliding Mode Control Coupled with Asynchronous Sensor Fusion for Rigid-Link Flexible-Joint Manipulators

This paper proposes a novel discrete-time terminal sliding mode controller (DTSMC) coupled with an asynchronous multirate sensor fusion estimator for rigid-link flexible-joint (RLFJ) manipulator tracking control. A camera is employed as external sensors to observe the RLFJ manipulator’s state which...

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Bibliographic Details
Main Authors:	Guangyue Xue, Xuemei Ren, Kexin Xing, Qiang Chen
Format:	Article
Language:	English
Published:	Hindawi-Wiley 2021-01-01
Series:	Complexity
Online Access:	http://dx.doi.org/10.1155/2021/9927850

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