Sliding Mode Robust Control of a Wire-Driven Parallel Robot Based on HJI Theory and a Disturbance Observer.
Yuqi WangQi LinJiacai HuangLei ZhouJinjiang CaoGuifang QiaoXinxin ShiPublished in: IEEE Access (2020)
Keyphrases
- sliding mode
- variable structure
- control strategy
- sliding mode control
- control theory
- robot manipulators
- parallel robot
- stability analysis
- sliding mode controller
- external disturbances
- control method
- control law
- sliding surface
- trajectory tracking
- control system
- visual servoing
- adaptive control
- control scheme
- adaptive neural
- dynamic model
- control parameters
- control algorithm
- inverted pendulum
- closed loop
- mathematical model
- fuzzy logic
- mobile robot
- real time