Optimization of Sliding Mode Control to Save Energy in a SCARA Robot
Sliding mode control is a robust technique that is used to overcome difficulties such as parameter variations, unmodeled dynamics, external disturbances, and payload changes in the position-tracking problem regarding robots. However, the selection of the gains in the controller could produce bigger...
Main Authors: | , , , , , , , , , |
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Format: | Article |
Language: | English |
Published: |
MDPI AG
2021-12-01
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Series: | Mathematics |
Subjects: | |
Online Access: | https://www.mdpi.com/2227-7390/9/24/3160 |