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Passivity-based sliding mode control for a polytopic stochastic differential inclusion system

โœ Scribed by Liu, Leipo; Fu, Zhumu; Song, Xiaona

Book ID
123181826
Publisher
Elsevier Science
Year
2013
Tongue
English
Weight
555 KB
Volume
52
Category
Article
ISSN
0019-0578

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โœ Vicente Parra-Vega; Suguru Arimoto ๐Ÿ“‚ Article ๐Ÿ“… 1996 ๐Ÿ› John Wiley and Sons ๐ŸŒ English โš– 677 KB

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