High-Accuracy Tracking Control of Robot Manipulators Using Time Delay Estimation and Terminal Sliding Mode
A time delay estimation based general framework for trajectory tracking control of robot manipulators is presented. The controller consists of three elements: a time-delay-estimation element that cancels continuous nonlinearities of robot dynamics, an injecting element that endows desired error dyna...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2011-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/45687 |