Hierarchical Non-Singular Terminal Sliding Mode Control for Constrained Under-Actuated Nonlinear Systems Against Sensor Faults

Engineering, Electrical Engineering, Information Science, Automation,
under-actuated nonlinear systems   sensor faults   state constraints   dynamic event-triggered   hierarchical non-singular terminal sliding mode control  

Background Introduction In modern engineering practices, under-actuated systems are widely used in fields such as overhead cranes, wheeled inverted pendulums, and snake robots due to their simple structure, low energy consumption, and high flexibility. However, the number of control inputs in under-actuated systems is less than the degrees of freed...