English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

To achieve accurate contour tracking of robotic manipulators with dynamicuncertainties, coupling and actuator faults, an adaptive non-singular terminalsliding mode control (ANTSMC) based on cross-coupling is proposed. Firstly, thesingularity is eliminated completely by using a terminal sliding mode manifold.Secondly, an adaptive tuning approach is selected for avoid the demand of thebound of system uncertainty, and the stability of the proposed control strategyis demonstrated by the sense of the finite-time stability theory. Furthermore,the cross-coupled ANTSMC law is proposed for contour tracking at theend-effectors level of robotic manipulators. Thirdly, a unified framework ofcross-coupling contour compensation and reference position pre-compensation isdesigned by combining cross-coupling control with parabolic transitiontrajectory planning. Finally, numerical simulation and experimental results areshown to prove the effectiveness of the proposed control strategy.

Adaptive Non-singular Terminal Sliding Mode Fault-tolerant Control of Robotic Manipulators Based on Contour Error Compensation