The Variable Boundary Layer Sliding Mode Control: A Safe and Performant Control for Compliant Joint Manipulators.
Ilias El MakriniCarlos Rodriguez GuerreroDirk LefeberBram VanderborghtPublished in: IEEE Robotics Autom. Lett. (2017)
Keyphrases
- sliding mode control
- sliding surface
- control strategy
- adaptive fuzzy
- adaptive neural
- adaptive fuzzy control
- sliding mode
- adaptive control
- robot manipulators
- external disturbances
- control method
- sliding mode controller
- control law
- control system
- nonlinear systems
- control algorithm
- fuzzy control
- neural network
- feedback control
- chaotic systems
- support vector regression
- control theory
- mathematical model
- process control
- wastewater treatment plant
- optimal control
- feed forward
- reinforcement learning