Sliding mode and PI controllers for uncertain flexible joint manipulator.
Lilia ZouariHafedh AbidMohamed AbidPublished in: Int. J. Autom. Comput. (2015)
Keyphrases
- sliding mode
- trajectory tracking
- robot manipulators
- stability analysis
- control strategy
- sliding mode control
- variable structure
- control scheme
- control law
- sliding mode controller
- control system
- closed loop
- control method
- iterative learning control
- dynamic model
- sliding surface
- adaptive control
- iterative learning
- visual servoing
- control theory
- fuzzy control
- fuzzy controller
- decision making
- learning algorithm
- control algorithm
- external disturbances
- fuzzy logic