Stability Guaranteed Time-Delay Control of Manipulators Using Nonlinear Damping and Terminal Sliding Mode.
Yi JinPyung Hun ChangMaolin JinDae-Gab GweonPublished in: IEEE Trans. Ind. Electron. (2013)
Keyphrases
- sliding mode
- stability analysis
- control law
- variable structure
- lyapunov function
- adaptive control
- control strategy
- external disturbances
- nonlinear systems
- sliding mode controller
- control theory
- lyapunov stability
- tracking error
- parameter uncertainties
- control method
- control system
- closed loop
- control scheme
- optimal control
- sliding mode control
- control algorithm
- networked control systems
- trajectory tracking
- chaotic systems
- sliding surface
- dynamic model
- robot manipulators
- motion planning
- neural network
- mathematical model
- linear matrix inequality
- dynamical systems
- feedback control
- path planning
- degrees of freedom
- adaptive neural
- membership functions
- robotic systems
- neural network controller
- support vector regression
- autonomous robots
- fuzzy controller