Adaptive backstepping sliding mode controller with PID sliding surface for a co-ordinated links (COOL) robotic arm.
Nabanita AdhikaryChitralekha MahantaPublished in: AIR (2015)
Keyphrases
- sliding mode controller
- control law
- sliding mode
- sliding surface
- robotic arm
- control method
- visual servoing
- control algorithm
- adaptive control
- control strategy
- sliding mode control
- variable structure
- control scheme
- nonlinear systems
- control system
- adaptive fuzzy
- motion planning
- closed loop
- pid controller
- fuzzy control
- adaptive neural
- degrees of freedom
- fuzzy controller
- stability analysis
- optimal control
- control theory
- robot manipulators
- neural network
- mathematical model
- state variables
- lyapunov function
- mobile robot
- neural controller