Characterization and Designing Integral Sliding Mode Controller for 2-Link Robot System with Coulomb Friction

The indemnification of uncertainty and disturbance which is added to non-linear systems by an Integral Sliding Mode Controller (ISMC) design. the key target of this paper is designing a sturdy controller to observe the performance of a 2-link robot. The nonlinearity in mechanical systems is a shared...

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Bibliografische Detailangaben

Hauptverfasser:	Dena Hameed Tu'ma, Ahmed K. Hammoudi
Format:	Artigo
Sprache:	Inglês
Veröffentlicht:	Al-Nahrain Journal for Engineering Sciences 2020-11-01
Schriftenreihe:	مجلة النهرين للعلوم الهندسية
Schlagworte:	chattering classical sliding mode controller integral sliding mode controller signum function saturation function
Online-Zugang:	https://nahje.com/index.php/main/article/view/805
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