A New Adaptive Sliding-Mode Control Scheme for Application to Robot Manipulators

This paper presents a new adaptive sliding-mode control (ASMC) scheme that uses the time-delay estimation (TDE) technique, then applies the scheme to robot manipulators. The proposed ASMC uses a new adaptive law to achieve good tracking performance with small chattering effect. The new adaptive law...

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Veröffentlicht in:	IEEE transactions on industrial electronics (1982) 2016-06, Vol.63 (6), p.3628-3637
Hauptverfasser:	Baek, Jaemin, Jin, Maolin, Han, Soohee
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive sliding-mode control (ASMC) fast adaptation Manifolds Manipulator dynamics robot manipulators Sliding mode control Switches time-delay estimation Upper bound
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