Adaptive Backstepping Sliding Mode Control for Equilibrium Position Tracking of an Electrohydraulic Elastic Manipulator.
Duc Thien TranDang Xuan BaKyoung Kwan AhnPublished in: IEEE Trans. Ind. Electron. (2020)
Keyphrases
- sliding mode control
- position tracking
- force control
- control strategy
- robot manipulators
- nonlinear systems
- adaptive neural
- adaptive fuzzy
- control method
- adaptive control
- control system
- sliding mode
- inverse kinematics
- position control
- control strategies
- optimal control
- fuzzy controller
- control scheme
- control algorithm
- control law
- end effector
- mathematical model
- neural network
- closed loop
- lyapunov function
- fuzzy model
- fuzzy neural network
- dynamic environments
- degrees of freedom