Fractional-Order Adaptive Integral Hierarchical Sliding Mode Control Method for High-Speed Linear Motion of Spherical Robot.
Long MaHanxu SunJingzhou SongPublished in: IEEE Access (2020)
Keyphrases
- control method
- pid controller
- fractional order
- robot manipulators
- sliding mode
- adaptive control
- variable structure
- trajectory tracking
- feedback control
- control strategy
- sliding mode controller
- desired trajectory
- sliding mode control
- tracking error
- control algorithm
- control system
- transfer function
- control scheme
- closed loop
- fuzzy control
- control law
- nonlinear systems
- humanoid robot
- motion planning
- fuzzy controller
- stability analysis
- adaptive fuzzy
- control parameters
- real time
- fuzzy logic controller
- particle swarm optimization
- mobile robot
- mathematical model
- dynamical systems
- dynamic model
- position and orientation
- manufacturing systems
- fuzzy logic
- degrees of freedom