论文信息 - Adaptive terminal sliding mode control of a rigid robotic manipulator with uncertain dynamics incorporating constraint inequalities

Adaptive terminal sliding mode control of a rigid robotic manipulator with uncertain dynamics incorporating constraint inequalities

We consider the control of a rigid robotic manipulator using robust adaptive sliding mode tracking control. Physical state constraints are incorporated using a multiplicative penalty in a Liapunov function from which we obtain analytic control laws that drive the robot's end effector into a desired fixed target within finite time.

Patrick Keleher | R. J. Stonier | R. Stonier | P. Keleher | P. G. K. R. J. Stonier

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