ISA transactions
Fast integral terminal synchronous sliding mode control for pantograph robots.
Muhammad Ali Hassan, Zhenwei Cao, Kamal Rsetam, Yusai Zheng, Zhihong Man
Published: 202510.1016/j.isatra.2025.12.016
Abstract
In this paper, a fast integral terminal synchronous sliding mode control (FITSSMC) is newly proposed for a 2-degree-of-freedom (2-DOF) pantograph robot (PR). Firstly, the mathematical modeling of the PR is established using inverse kinematics, forwar…
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