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Discrete-time second order sliding mode with time delay control for uncertain robot manipulators.
Yassine Kali
Maarouf Saad
Khalid Benjelloun
Abdelilah Fatemi
Published in:
Robotics Auton. Syst. (2017)
Keyphrases
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robot manipulators
sliding mode
sliding mode control
variable structure
control scheme
control strategy
stability analysis
dynamic model
tracking error
control system
optimal control
pid controller
control law
closed loop
feed forward