Feedback-based Digital Higher-order Terminal Sliding Mode for 6-DOF Industrial Manipulators.
Zhian KuangXiang ZhangLiting SunHuijun GaoMasayoshi TomizukaPublished in: CoRR (2021)
Keyphrases
- higher order
- sliding mode
- control law
- degrees of freedom
- variable structure
- adaptive control
- path planning
- control strategy
- sliding mode control
- motion planning
- stability analysis
- closed loop
- control scheme
- control algorithm
- nonlinear systems
- pose estimation
- control theory
- control system
- robot manipulators
- dynamic model
- real time
- control method
- control parameters
- feedback control
- state space
- reinforcement learning