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Discrete-time integral sliding mode position control of H-type platform direct-drive servo system based on smooth saturation function.

Xin FangLimei WangKang Zhang
Published in: Trans. Inst. Meas. Control (2022)
Keyphrases
  • sliding mode
  • control scheme
  • robotic manipulator
  • position control
  • direct drive
  • control strategy
  • robot manipulators
  • variable structure
  • control system
  • real time
  • dynamic model
  • reinforcement learning