Parallel Network-Based Sliding Mode Tracking Control for Robotic Manipulators with Uncertain Dynamics

Parallel Network-Based Sliding Mode Tracking Control for Robotic Manipulators with Uncertain Dynamics

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Robot dynamics model uncertainty and unpredictable external perturbations are important factors that influence control accuracy and stability. To accurately compensate for the dynamics model in sliding mode control (SMC), a new parallel network (PCR) is proposed in this paper. The network paralleliz...

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Bibliographic Details
Main Authors: Honggang Wu, Xinming Zhang, Linsen Song, Yufei Zhang, Chen Wang, Xiaonan Zhao, Lidong Gu
Format: Article
Language:English
Published: MDPI AG 2023-04-01
Series:Actuators
Subjects:
parallel network
PCR-SMC controller
uncertainty compensation
trajectory tracking
Online Access:https://www.mdpi.com/2076-0825/12/5/187

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