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- W2385598087 abstract "In order to improve the precision of trajectory tracking of space manipulator joint with uncertainties, backstepping sliding-mode control method was designed and the integral items were synthesized to reduce steady error.To confirm the upper bound of uncertainties in sliding-mode control system, general radial basis function(GRBF) network was designed to estimate the value of upper bound, and its stability and error convergence were testified based on Lyapunov theorem.The simulation results demonstrate that this method improves the performances of trajectory tracking and enhances the robustness to parameters disturbance and external disturbances." @default.
- W2385598087 created "2016-06-24" @default.
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- W2385598087 date "2009-01-01" @default.
- W2385598087 modified "2023-09-24" @default.
- W2385598087 title "Integral Backstepping Sliding-mode Control for Space Manipulator Joint" @default.
- W2385598087 hasPublicationYear "2009" @default.
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