A Nonlinear Sliding Mode Controller of Serial Robot Manipulators With Two-Level Gain-Learning Ability
This article presents a learning robust controller for high-quality position tracking control of robot manipulators. A basic time-delay estimator is adopted to effectively approximate the system dynamics. A low-level control layer is structured from the control error as an indirect control objective...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9233324/ |