Results (1)
Search Parameters:
Keyword: daptive time-delay estimationOpen AccessArticle
8 Pages, 1,349 KB 
A Fast Adaptive Time-delay-estimation Sliding Mode Controller for Robot Manipulators
Abstract:
A nonlinear adaptive robust controller is proposed in this paper for trajectory-tracking control problems of robot manipulators. On one hand, to effectively approximate the systematic dynamics, a simple time-delay estimator is first adopted. On the other hand, to minimize the control error, the controller is designed based on a sliding mode structure using the obtained…
Read More(This article belongs to the SP9 (Special Issue on Multidisciplinary Innovation in Engineering Science & Technology 2020) & Section Automation & Control Systems (ACS))