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Protective control for robot manipulator by sliding mode based disturbance reconstruction approach.
Yiyong Sun
Zengjie Zhang
Marion Leibold
Rameez Hayat
Dirk Wollherr
Martin Buss
Published in:
AIM (2017)
Keyphrases
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robot manipulators
sliding mode
sliding mode control
control scheme
trajectory tracking
variable structure
external disturbances
dynamic model
control strategy
stability analysis
neural network
tracking error
genetic algorithm
control system
experimental data
control law