Chattering-Suppressed Sliding Mode Control for Flexible-Joint Robot Manipulators

Chattering-Suppressed Sliding Mode Control for Flexible-Joint Robot Manipulators

In this paper, sliding mode tracking control and its chattering suppression method are investigated for flexible-joint robot manipulators with only state measurements of joint actuators. First, within the framework of singular perturbation theory, the control objective of the system is decoupled int...

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Bibliographic Details
Main Authors:	Xin Cheng, Huashan Liu, Wenke Lu
Format:	Article
Language:	English
Published:	MDPI AG 2021-10-01
Series:	Actuators
Subjects:	flexible-joint robot manipulator sliding mode control chattering phenomenon radial basis function neural network extended Kalman filter
Online Access:	https://www.mdpi.com/2076-0825/10/11/288

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