Adaptive sliding mode disturbance rejection control with prescribed performance for robotic manipulators

Related Experiment Video

Updated: Jan 29, 2026

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
07:40

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Published on: June 10, 2020

15.8K

Chenghu Jing1, Hongguang Xu1, Xinjian Niu1

  • 1Department of Fluid Control and Automation, Harbin Institute of Technology, Harbin, China.

ISA Transactions
|February 16, 2019
PubMed

Keywords:
AdaptiveDisturbance observerPrescribed performanceRobotic manipulatorTerminal sliding mode

More Related Videos

Adaptation of a Haptic Robot in a 3T fMRI08:16

Adaptation of a Haptic Robot in a 3T fMRI

Published on: October 4, 2011

10.1K
Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect09:00

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect

Published on: December 19, 2016

15.2K

Related Concept Videos

Ecological Disturbance02:26

Ecological Disturbance

An ecological disturbance is a temporary disruption in the environment resulting from abiotic, biotic, or anthropogenic factors, causing a pronounced change in an ecosystem. The impact of an ecological disturbance, which can depend on its intensity, frequency, and spatial distribution, plays a significant role in shaping the species diversity within the ecosystem.
21.0K
Disturbances in Heart Rhythm01:29

Disturbances in Heart Rhythm

Arrhythmia or dysrhythmia refers to an abnormal heart rhythm caused by a defect in the heart's conduction system. It can cause the heart to beat irregularly, too quickly, or too slowly, leading to symptoms like chest pain, shortness of breath, and fainting. Factors such as stress, caffeine, alcohol, nicotine, cocaine, certain drugs, congenital defects, diseases, and electrolyte abnormalities can trigger arrhythmias.
Arrhythmias are categorized by their speed, rhythm, and origin. A slow heart...
2.9K
What is a Mode?01:07

What is a Mode?

The mode is one of the commonly used measures of a central tendency. It is defined as the most frequent value in a data set.
There can be more than one mode in a data set if multiple values have the same highest frequency. For instance, suppose that the Statistics exam scores of 20 students are: 50; 53; 59; 59; 63; 63; 72; 72; 72; 72; 72; 76; 78; 81; 83; 84; 84; 84; 90; 93. Here, the mode is 72, as it occurs most frequently, five times.
A data set with two modes is called bimodal. For example,...
25.9K
Ventilatory Modes01:14

Ventilatory Modes

Mechanical ventilators are life-saving devices that support or replace spontaneous breathing. They deliver breaths to patients through varying methods known as ventilator modes. Understanding these modes is critical for healthcare providers managing patients with respiratory failure.
There are three ventilatory modes: full support, partial support, and spontaneous. These are described below.
Full Support Modes
Full support modes include controlled mechanical ventilation, continuous mandatory...
1.5K
Design Example: Designing Water Slide01:18

Design Example: Designing Water Slide

When designing a water slide, controlling the speed of water flow is crucial for rider safety while maintaining an exciting experience. As water flows down the slide, gravity causes it to accelerate, with its speed at the bottom depending on the height from which it starts. The higher the slide, the more potential energy the water has at the top, which is converted into kinetic energy as it descends, increasing its speed.
Bernoulli's principle determines the water's velocity along the slide....
625
Hypothesis: Accept or Fail to Reject?01:17

Hypothesis: Accept or Fail to Reject?

The outcome of any hypothesis testing leads to rejecting or not rejecting the null hypothesis. This decision is taken based on the analysis of the data, an appropriate test statistic, an appropriate confidence level, the critical values, and P-values. However, when the evidence suggests that the null hypothesis cannot be rejected, is it right to say, 'Accept' the null hypothesis?
There are two ways to indicate that the null hypothesis is not rejected. 'Accept' the null...
29.5K