A sliding mode controller with bound estimation for robot manipulators
نویسندگان
چکیده
A sliding mode control algorithm combined with an adaptive scheme, which is used to estimate the unknown parameter bounds, is developed for the trajectory control of robot manipulators. Simulation results show the validity of accurate tracking capability and robust performance.
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ورودعنوان ژورنال:
- IEEE Trans. Robotics and Automation
دوره 11 شماره
صفحات -
تاریخ انتشار 1993