Integral sliding mode controller for trajectory tracking control of Stewart platform manipulator

Conventional sliding mode controllers have been successfully applied to control various types systems including the Stewart platform manipulator. But chattering, lack of robustness in the reaching phase and sensitivity to unmatched uncertainty are the basic problems which delayed their practical imp...

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Bibliographische Detailangaben

Hauptverfasser:	Negash, Dereje Shiferaw, Mitra, R
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	chattering classical sliding mode controller Control systems integral sliding mode controller Jacobian matrices Joints Leg Manipulator dynamics Stewart platform manipulator Uncertainty
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