Adaptive Fuzzy High-Order Super-Twisting Sliding Mode Controller for Uncertain Robotic Manipulator

Adaptive Fuzzy High-Order Super-Twisting Sliding Mode Controller for Uncertain Robotic Manipulator

This paper presents a novel adaptive fuzzy high-order super-twisting sliding mode controller, based on the modified super-twisting control (STC), to achieve accurate trajectory tracking for a robotic manipulator with unknown structured uncertainties, parametric uncertainties, and time-varying extern...

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Bibliographic Details
Main Authors: Goel Ankur, Swarup Akhilesh
Format: Article
Language:English
Published: De Gruyter 2017-09-01
Series:Journal of Intelligent Systems
Subjects:
adaptive tuning
finite time stability
fuzzy logic control
high-order sliding mode control
robotic manipulator
super-twisting algorithm
uncertainty
Online Access:https://doi.org/10.1515/jisys-2016-0020

Internet

https://doi.org/10.1515/jisys-2016-0020

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