Design and experimental validation of a second-order sliding-mode motion controller for robot manipulators.
Luca Massimiliano CapisaniAntonella FerraraLorenza MagnaniPublished in: Int. J. Control (2009)
Keyphrases
- robot manipulators
- sliding mode
- variable structure
- sliding mode control
- control scheme
- stability analysis
- trajectory tracking
- control strategy
- control law
- adaptive control
- tracking error
- dynamic model
- pid controller
- control algorithm
- genetic algorithm
- control method
- adaptive neural
- closed loop
- optimization algorithm
- state space
- mobile robot