Adaptive terminal sliding mode control of a rigid robotic manipulator with uncertain dynamics incorporating constraint inequalities
نویسندگان
چکیده
منابع مشابه
A Robust Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators
In order to apply the terminal sliding mode control to robot manipulators, prior knowledge of the exact upper bound of parameter uncertainties, and external disturbances is necessary. However, this bound will not be easily determined because of the complexity and unpredictability of the structure of uncertainties in the dynamics of the robot. To resolve this problem in robot control, we propose...
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ژورنال
عنوان ژورنال: ANZIAM Journal
سال: 2002
ISSN: 1445-8810
DOI: 10.21914/anziamj.v43i0.468