High-Accuracy Tracking Control of Robot Manipulators Using Time Delay Estimation and Terminal Sliding Mode

High-Accuracy Tracking Control of Robot Manipulators Using Time Delay Estimation and Terminal Sliding Mode

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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 endow...

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Bibliographic Details
Main Authors:	Maolin Jin, Yi Jin, Pyung Hun Chang, Chintae Choi
Format:	Article
Language:	English
Published:	SAGE Publishing 2011-09-01
Series:	International Journal of Advanced Robotic Systems
Subjects:	High&#8208 accuracy racking control robot manipulators time delay estimation terminal sliding mode
Online Access:	http://www.intechopen.com/articles/show/title/high_accuracy_tracking_control_of_robot_manipulators_using_time_delay_estimation_and_terminal_slidin

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