MANIPULATION
Adaptive Sliding Mode Control Design of a SCARA Robot Manipulator System Under Parametric Variations
F. Adelhedi, Amina Jribi, Yassine Bouteraa, Nabil Derbel
- Year
- 2015
- Citations
- 16
- Access
- Open access
Abstract
The sliding mode control (SMC) has yet proven its efficiency through several theoretical researches. Indeed, the robotic field is recognized as one of the main SMC portals on practical implementations. The interest of this work consists in testing the SMC robustness and its reliability versus the parameters variation and model uncertainties.
Keywords
SCARAControl theory (sociology)Parametric statisticsControl engineeringRobustness (evolution)Sliding mode controlAdaptive controlRobotEngineeringRobust control
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