基于NDOB的关节机器人时变阻尼PBC与优化符号函数SMC协同控制*
郎需龙, 于海生, 杨庆, 郭庆锟
NDOB-based cooperative control of manipulators with time-varying damping PBC and optimized sign function SMC
LANG Xulong, YU Haisheng, YANG Qing, GUO Qingkun
现代制造工程
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2026, (1): 48
-58
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DOI: 10.16731/j.cnki.1671-3133.2026.01.006