Ahmadzadeh, Hamid Reza

[ 1 ] - Designing Robust Finite-Time Nonlinear Torques for a n-DOF Robot Manipulator with Uncertainties, Sector and Dead-Zone Input Nonlinearities

In this paper, a complete dynamical model is presented for an uncertain -DOF robot manipulator containing description of sector and dead-zone input nonlinearities. Next, robust finite-time tracking problem of desired trajectories is declared and formulated for the aforementioned robot manipulator. By defining innovative nonlinear sliding manifolds and developing the nonsingular terminal sliding...