Variable Step-Size Adaptive Sliding Mode Controller with Exponential Law for Robot Arm Tracking.
Zhi-Xiang YangBing-Gang JhongMei-Yung ChenPublished in: SMC (2015)
Keyphrases
- robot arm
- variable step size
- step size
- convergence rate
- blind source separation
- convergence speed
- motion planning
- nonlinear systems
- control strategies
- position and orientation
- learning rate
- real time
- independent component analysis
- real robot
- negative matrix factorization
- sliding mode control
- adaptive fuzzy
- path planning