Second Order Sliding Mode-Based Output Feedback Tracking Control for Uncertain Robot Manipulators
نویسندگان
چکیده
منابع مشابه
Second Order Sliding Mode-Based Output Feedback Tracking Control for Uncertain Robot Manipulators
In this paper, a robust output feedback tracking control scheme for motion control of uncertain robot manipulators without joint velocity measurement based on a second‐order sliding mode (SOSM) observer is presented. Two second‐order sliding mode observers with finite time convergence are developed for velocity estimation and uncertainty identification, respectiv...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2013
ISSN: 1729-8814,1729-8814
DOI: 10.5772/55060