MANIPULATION
A robust higher order sliding mode control of rigid robot manipulator
M. Agwan, S. Janardhanan, Lilie Dewan
- Year
- 2012
- Citations
- 2
Abstract
A robotic manipulator is a highly nonlinear system with uncertainties. Sliding mode control provides a method for reliable tracking for such uncertain nonlinear systems. In this work, we present an algorithm based on higher order sliding mode concept for tracking and finite time error convergence for articulated robotic manipulators
Keywords
Control theory (sociology)Robot manipulatorSliding mode controlNonlinear systemConvergence (economics)Robust controlTracking (education)Computer scienceTracking errorMode (computer interface)
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