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• W2897891253 abstract "In this paper, a sliding mode control method for manipulator in the presence of external disturbance is addressed. Firstly, the dynamic model of n-joint manipulator system is introduced. Secondly, aiming at a manipulator system with disturbance, a novel dynamic sliding mode controller based on adaptive technique is proposed, in which the parameter of external disturbance is estimated and updated by online adaptive method. Further, the stability of the overall system under this controller is verified based on Lyapunov theorem. Besides, through this method, there is no need to obtain the precise value of disturbance. Finally, experimental results demonstrate that the controller proposed in this work has strong robustness for disturbance, meanwhile can effectively reduce the chattering." @default.
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• W2897891253 date "2018-07-01" @default.
• W2897891253 modified "2023-09-22" @default.
• W2897891253 title "A Novel Adaptive Sliding Mode Control for Manipulator with External Disturbance" @default.
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• W2897891253 doi "https://doi.org/10.23919/chicc.2018.8483990" @default.
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