Adaptive-Sliding Mode Trajectory Control of Robot Manipulators with Uncertainties
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work we seek a controller that is, robust to the uncertainty and...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Salahaddin University-Erbil
2020-09-01
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| Series: | Zanco Journal of Pure and Applied Sciences |
| Subjects: | |
| Online Access: | https://zancojournals.su.edu.krd/index.php/JPAS/article/view/3407 |