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Hierarchical non-singular terminal sliding mode controller for a single link flexible joint robot manipulator.
Kamal Rsetam
Zhenwei Cao
Zhihong Man
Published in:
CDC (2017)
Keyphrases
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robot manipulators
single link
sliding mode control
sliding mode
control scheme
hierarchical clustering
dynamic model
pid controller
variable structure
control system
fuzzy neural network
artificial neural networks