Feedback-based Digital Higher-order Terminal Sliding Mode for 6-DOF Industrial Manipulators.
Zhian KuangLiting SunXiang ZhangHuijun GaoMasayoshi TomizukaPublished in: ACC (2021)
Keyphrases
- higher order
- sliding mode
- control law
- variable structure
- adaptive control
- degrees of freedom
- path planning
- stability analysis
- motion planning
- control strategy
- sliding mode control
- closed loop
- nonlinear systems
- pose estimation
- control algorithm
- control system
- sliding surface
- robot manipulators
- control scheme
- optimal control
- control theory
- visual servoing
- dynamic model
- mobile robot
- dynamical systems
- fuzzy sets