Adaptive Dynamic Boundary Sliding Mode Control for Robotic Manipulators under Varying Disturbances

Adaptive Dynamic Boundary Sliding Mode Control for Robotic Manipulators under Varying Disturbances

This paper introduces an Adaptive Dynamic Bounded Sliding Mode Control (ADBSMC) method that incorporates a disturbance observer to enhance the response characteristics of the robot manipulator while eliminating the reliance on a priori knowledge. The proposed method utilizes nonlinear sliding mode m...

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Bibliographic Details
Main Authors: Zhendong Song, Danyang Bao, Wenbin Wang, Wei Zhao
Format: Article
Language:English
Published: MDPI AG 2024-02-01
Series:Electronics
Subjects:
adaptive control
dynamic boundary
robotic manipulator
unknown prior knowledge
sliding mode control
Online Access:https://www.mdpi.com/2079-9292/13/5/900

Internet

https://www.mdpi.com/2079-9292/13/5/900

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