Chattering-Suppressed Sliding Mode Control for Flexible-Joint Robot Manipulators

Chattering-Suppressed Sliding Mode Control for Flexible-Joint Robot Manipulators

In this paper, sliding mode tracking control and its chattering suppression method are investigated for flexible-joint robot manipulators with only state measurements of joint actuators. First, within the framework of singular perturbation theory, the control objective of the system is decoupled int...

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Bibliographic Details
Main Authors: Xin Cheng, Huashan Liu, Wenke Lu
Format: article
Language:EN
Published: MDPI AG 2021
Subjects:
flexible-joint robot manipulator
sliding mode control
chattering phenomenon
radial basis function neural network
extended Kalman filter
Materials of engineering and construction. Mechanics of materials
TA401-492
Production of electric energy or power. Powerplants. Central stations
TK1001-1841
Online Access:https://doaj.org/article/51f3730f58a3429dbf6603ccd6439f8f
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https://doaj.org/article/51f3730f58a3429dbf6603ccd6439f8f

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