Identification of a robot manipulator based on an adaptive higher order sliding modes differentiator

In this paper, a dynamic identification method for a robot manipulator is investigated. A robust adaptive differentiator based on higher order sliding modes is used to estimate the state of the system. A theoretical proof of the convergence of this robust differentiator is given. A frequency analysi...

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Bibliographische Detailangaben

Hauptverfasser:	Sidhom, L, Pham, M T, Thévenoux, F, Gautier, M
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Automatic Convergence Electric power Engineering Sciences Equations Estimation Finite impulse response filter Robots Robustness Trajectory
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