Improving velocity feedback for position control by using a discrete-time sliding mode filtering with adaptive windowing.
Shanhai JinRyo KikuuweMotoji YamamotoPublished in: Adv. Robotics (2014)
Keyphrases
- sliding mode
- control scheme
- position control
- tracking error
- control law
- closed loop
- variable structure
- force control
- robot manipulators
- control strategy
- adaptive control
- stability analysis
- sliding mode control
- dynamic model
- feedback loop
- adaptive fuzzy
- robotic manipulator
- control theory
- fuzzy controller
- control strategies
- nonlinear systems
- optical flow