Abstract
An alternative approach that satisfies the problem of Cartesian tracking without using the model and without exact knowledge of Jacobian is proposed to guarantee exponential tracking. The scheme is a new sliding PID controller in Cartesian coordinates, whose control input is smooth, produces well-posed terminal attractors which gives rise to finite time convergence, a faster convergence regime than exponential one. Experimental results are present to visualize the real time stability properties of the proposed scheme
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