Adaptive Composite Observer-Based Global Finite Time Control With Prescribed Performance for Robots

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DOI:10.1109/TIE.2023.3325588
文献类型：期刊论文
补充材料：只需要正文
文献链接：https://doi.org/10.1109/TIE.2023.3325588

Institute of Electrical and Electronics Engineers (IEEE)

Abstract：As humans focus control only on task–space variables to achieve dexterous manipulation, robots could strongly profit from advanced task-space control, which is still blocked by kinematic and

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