Control of a class of under-actuated systems with saturation using hierarchical sliding mode.

Dianwei Qian Jianqiang Yi Dongbin Zhao

Published in: ICRA (2008)

Keyphrases

sliding mode
control strategy
control scheme
stability analysis
robot manipulators
variable structure
control system
control law
complex systems
robotic systems
sliding mode control
adaptive control
reinforcement learning
experimental data
sliding surface