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
Neuro-adaptive sliding-mode tracking control of robot manipulators
β Scribed by Andon V. Topalov; Okyay Kaynak; Gokhan Aydin
- Publisher
- John Wiley and Sons
- Year
- 2007
- Tongue
- English
- Weight
- 639 KB
- Volume
- 21
- Category
- Article
- ISSN
- 0890-6327
- DOI
- 10.1002/acs.982
No coin nor oath required. For personal study only.
π SIMILAR VOLUMES
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
In this paper we present a robust adaptive control scheme for robot manipulators with time-varying parameters and unmodeled dynamics. Our scheme ensures that all signals in the closed-loop robot system are bounded and the tracking error is of the order of the parameter variations and unmodeled dynam
An alternative adaptive scheme to achieve output tracking for a class of minimum-phase dynamically input-output linearizable nonlinear systems with parametric uncertainties is considered. The proposed approach is based upon a combination of the adaptive backstepping design method and a sliding mode