Nonlinear Robust Control of Unknown Robot Manipulator Systems With Actuators and Disturbances Using System Identification and Integral Sliding Mode Disturbance Observer

Nonlinear Robust Control of Unknown Robot Manipulator Systems With Actuators and Disturbances Using System Identification and Integral Sliding Mode Disturbance Observer

In this study, nonlinear robust control of robot manipulator systems with completely unknown manipulator dynamics using a system identification and integral sliding mode disturbance observer (SI-ISMDOB)-based sliding mode control (SMC) method is proposed. Because the unknown robot manipulator system...

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Bibliographic Details
Main Authors: Dongkyoung Chwa, Heejun Kwon
Format: Article
Language:English
Published: IEEE 2022-01-01
Series:IEEE Access
Subjects:
Integral sliding mode disturbance observer-based sliding mode control
manipulator-actuator dynamics
nonlinear robust control
system identification
unknown robot manipulator system
Online Access:https://ieeexplore.ieee.org/document/9745073/

Internet

https://ieeexplore.ieee.org/document/9745073/

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