Adaptive Sliding Mode Impedance Control of Single-Link Flexible Manipulators interacting with the Environment at an Unknown Intermediate Point.
Ali FayaziNaser ParizAli KarimpourVicente Feliú BatlleS. Hassan HosseinNiaPublished in: Robotica (2020)
Keyphrases
- single link
- sliding mode
- adaptive control
- variable structure
- robot manipulators
- control law
- impedance control
- robotic systems
- control scheme
- hierarchical clustering
- nonlinear systems
- stability analysis
- mobile robot
- autonomous robots
- path planning
- dynamic environments
- sliding mode control
- real time
- state space
- flexible manipulator