Cartesian sliding mode tracking control of an exoskeleton robot based on time delay estimation.
Brahim BrahmiMaarouf SaadCristóbal Ochoa-LunaMohammad Habibur RahmanPublished in: SDD (2017)
Keyphrases
- vision system
- tracking control
- control law
- sliding mode
- nonlinear systems
- closed loop
- stability analysis
- variable structure
- tracking error
- autonomous robots
- control system
- adaptive control
- robotic systems
- control scheme
- control strategy
- control algorithm
- control theory
- motion planning
- sliding mode control
- adaptive neural
- optimal control
- lyapunov function
- dynamical systems
- degrees of freedom
- mobile robot
- robot manipulators
- linear model
- fuzzy model
- controller design
- multi robot
- fuzzy controller
- experimental data
- humanoid robot
- neural network