Nonlinear Robust Control of Unknown Robot Manipulator Systems With Actuators and Disturbances Using System Identification and Integral Sliding Mode Disturbance Observer.
Dongkyoung ChwaHeejun KwonPublished in: IEEE Access (2022)
Keyphrases
- robot manipulators
- external disturbances
- sliding mode control
- sliding mode
- control scheme
- variable structure
- control law
- sliding mode controller
- closed loop
- control system
- dynamic model
- control strategy
- stability analysis
- trajectory tracking
- adaptive control
- control theory
- adaptive fuzzy
- pid controller
- control algorithm
- chaotic systems
- tracking error
- expert systems
- linear systems
- support vector
- fuzzy control
- degrees of freedom
- experimental data
- fuzzy logic