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...
| Автори: | , , |
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| Формат: | Стаття |
| Мова: | English |
| Опубліковано: |
MDPI AG
2021-04-01
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| Серія: | Applied Sciences |
| Предмети: | |
| Онлайн доступ: | https://www.mdpi.com/2076-3417/11/9/3919 |