Adaptive Proportional-Derivative Sliding Mode Control Law With Improved Transient Performance for Underactuated Overhead Crane Systems.
Menghua ZhangXin MaRui SongXuewen RongGuohui TianXincheng TianYibin LiPublished in: IEEE CAA J. Autom. Sinica (2018)
Keyphrases
- control law
- sliding mode
- variable structure
- adaptive control
- motion planning
- closed loop
- control scheme
- control system
- control strategy
- control algorithm
- stability analysis
- nonlinear systems
- trajectory tracking
- optimal control
- control theory
- robot manipulators
- tracking error
- sliding mode control
- external disturbances
- sliding mode controller
- autonomous robots
- adaptive fuzzy
- fuzzy systems
- degrees of freedom
- path planning