DDPG-Based Adaptive Sliding Mode Control with Extended State Observer for Multibody Robot Systems

DDPG-Based Adaptive Sliding Mode Control with Extended State Observer for Multibody Robot Systems

This research introduces a robust control design for multibody robot systems, incorporating sliding mode control (SMC) for robustness against uncertainties and disturbances. SMC achieves this through directing system states toward a predefined sliding surface for finite-time stability. However, the...

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Bibliographic Details
Main Authors: Hamza Khan, Sheraz Ali Khan, Min Cheol Lee, Usman Ghafoor, Fouzia Gillani, Umer Hameed Shah
Format: Article
Language:English
Published: MDPI AG 2023-11-01
Series:Robotics
Subjects:
multibody dynamics
sliding mode control
extended state observer
DDPG
Online Access:https://www.mdpi.com/2218-6581/12/6/161

Internet

https://www.mdpi.com/2218-6581/12/6/161

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