Adaptive Sliding Mode Control for a Robotic Manipulator with Unknown Friction and Unknown Control Direction

This paper is aimed at addressing the tracking control issue for an n-DOF manipulator regardless of unknown friction and unknown control direction. In order to handle the above issues, an adaptive sliding mode control (ASMC) is developed with a Nussbaum function. The sliding mode control (SMC) in th...

Deskribapen osoa

Xehetasun bibliografikoak

Egile Nagusiak:	Seung-Hun Han, Manh Son Tran, Duc-Thien Tran
Formatua:	Artigo
Hizkuntza:	Inglês
Argitaratua:	MDPI AG 2021-04-01
Saila:	Applied Sciences
Gaiak:	sliding mode control manipulator unknown control direction Nussbaum function Lyapunov approach
Sarrera elektronikoa:	https://www.mdpi.com/2076-3417/11/9/3919
Etiketak:	Etiketa erantsi Etiketarik gabe, Izan zaitez lehena erregistro honi etiketa jartzen!