Optimized sliding mode controller for trajectory tracking of flexible joints three-link manipulator with noise in input and output
Abstract The aim of this study is to enhance the performance of a nonlinear three-rigid-link maneuver (RLM) in terms of trajectory tracking, disturbance and noise cancellation, and adaptability to joint flexibility. To achieve this, an optimized sliding mode controller with a proportional integral d...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Nature Portfolio
2023-08-01
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| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-023-38855-7 |