Based on a novel orthogonalized sliding mode error co-ordinate system, a passivity-based adaptive sliding mode control that yields the global exponential convergence of position and force tracking errors is proposed. The holonomic constraint is efficiently manipulated to derive two orthogonal transf
A feedforward sliding mode controller for a robot manipulator
β Scribed by Piotr Myszkorowski
- Publisher
- Springer Netherlands
- Year
- 1989
- Tongue
- English
- Weight
- 368 KB
- Volume
- 2
- Category
- Article
- ISSN
- 0921-0296
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