A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators.
Zhihong ManAndrew P. PaplinskiHong Ren WuPublished in: IEEE Trans. Autom. Control. (1994)
Keyphrases
- control scheme
- robotic manipulator
- sliding mode
- closed loop
- control strategy
- robot manipulators
- control law
- control system
- dynamic model
- position control
- trajectory tracking
- fuzzy controller
- neural network controller
- pid controller
- force control
- external disturbances
- inverse kinematics
- visual servoing
- control algorithm
- sliding mode control
- variable structure
- control strategies
- fuzzy neural network
- neuro fuzzy
- artificial neural networks