Discrete-Time Implementation of an Adaptive Gain First-Order Sliding Mode Control Law.
Lars WatermannLukas EisenzopfStefan KochMarkus ReichhartingerMartin HornJohann RegerPublished in: CDC (2021)
Keyphrases
- control law
- sliding mode
- closed loop
- variable structure
- control strategy
- control algorithm
- control system
- control scheme
- control theory
- sliding mode controller
- nonlinear systems
- adaptive control
- stability analysis
- trajectory tracking
- visual servoing
- sliding mode control
- robot manipulators
- optimal control
- lyapunov function
- adaptive fuzzy
- lyapunov stability
- dynamic model
- dynamical systems
- autonomous robots
- motion planning
- control method
- feedback control
- control parameters
- linear model
- input output