Continuous Sliding Mode Control of Robotic Manipulators Based on Time-Varying Disturbance Estimation and Compensation
To address the high-precision trajectory tracking task of uncertain robotic manipulators, a continuous sliding mode control (CSMC) scheme based on time-varying disturbance estimation and compensation is developed. The proposed control approach can not only avoid the chattering of the traditional sli...
Main Authors: | Juan Xian, Li Shen, Junlin Chen, Wenguo Feng |
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Format: | Article |
Language: | English |
Published: |
IEEE
2022-01-01
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Series: | IEEE Access |
Subjects: | |
Online Access: | https://ieeexplore.ieee.org/document/9761255/ |
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