Adaptive sliding mode control with uncertainty estimator for robot manipulators
โ Scribed by Meysar Zeinali; Leila Notash
- Publisher
- Elsevier Science
- Year
- 2010
- Tongue
- English
- Weight
- 413 KB
- Volume
- 45
- Category
- Article
- ISSN
- 0094-114X
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๐ SIMILAR VOLUMES
Based on a general form of a sliding manifold, a design strategy for the adaptive sliding mode control is presented for robot systems. It is shown that without any prior knowledge of the manipulator parameters under the deterioration of a class of state-dependent input disturbances, the controller g
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