Nonsingular terminal sliding-mode control for nonlinear robot manipulators with uncertain parameters.
Yong YangHeping ChenLei ZhangPublished in: ROBIO (2015)
Keyphrases
- sliding mode control
- robot manipulators
- external disturbances
- control scheme
- tracking error
- sliding mode
- variable structure
- adaptive neural
- dynamic model
- pid controller
- chaotic systems
- fuzzy neural network
- decision making
- control strategy
- sensitivity analysis
- nonlinear functions
- rbf network
- input output
- linear combination