Robust Finite-Time Adaptive Nonlinear Control System for an EOD Robotic Manipulator: Design, Implementation, and Experimental Validation

To improve the efficiency of human-robot interaction (HRI) in hazardous ordnance manipulation tasks, the design of an advanced control system for a robotic manipulator needs to be investigated. This article presents a robust finite-time adaptive nonlinear control system designed to address the traje...

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Bibliographic Details
Published in:	IEEE access Vol. 12; pp. 93859 - 93875
Main Authors:	Ccari, Luis F. Canaza, Aguilar, Walker, Supo, Elvis, Espinoza, Erasmo Sulla, Vidal, Yuri Silva, Medina, Nicolas, Pari, Lizardo
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 2024 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Actuators Adaptive algorithms Adaptive control Adaptive systems Asymptotic stability Back propagation networks backstepping Closed loops Control stability Control systems design Controllers Convergence EOD manipulator Feedback control Human engineering Manipulator dynamics Manipulators Neural networks Nonlinear control nonlinear control system Nonlinear control systems Numerical stability Ordnance Real time Robot arms Robot control Robotics Robust control Sliding mode control Stability analysis Tracking control Tracking errors Trajectory control
ISSN:	2169-3536, 2169-3536
Online Access:	Get full text
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