Disturbance observer-based backstepping sliding mode cascade control of 2-degrees of freedom hydraulic tunneling robot.
Guotai ZhangGang ShenYu TangXiang LiPublished in: J. Syst. Control. Eng. (2024)
Keyphrases
- sliding mode
- degrees of freedom
- control law
- motion planning
- end effector
- control strategy
- robot manipulators
- trajectory tracking
- robotic arm
- visual servoing
- control system
- variable structure
- control theory
- control method
- nonlinear systems
- robot arm
- control scheme
- robotic manipulator
- closed loop
- adaptive control
- sliding mode control
- force control
- pose estimation
- inverse kinematics
- configuration space
- control algorithm
- stability analysis
- position control
- optimal control
- joint space
- path planning
- lyapunov function
- autonomous robots
- mathematical model
- dynamic model
- control strategies
- mobile robot
- desired trajectory
- humanoid robot
- tracking error
- fault diagnosis
- vision system
- feedback control
- human body
- dynamical systems
- dynamic programming
- neural network controller
- real time
- fuzzy neural network