Adaptive fuzzy sliding mode algorithm-based decentralised control for a permanent magnet spherical actuator

Jingmeng Liu, Xuerong Li, Shaoxiong Cai, Weihai Chen, Shaoping Bai

Abstract: The dynamic model of multi-degree-of-freedom permanent magnet (PM) spherical actuators is multivariate and nonlinear due to strong inter-axis couplings, which affects the trajectory tracking perfor...