Composite Learning Sliding Mode Control of Flexible-Link Manipulator
This paper studies the control of a flexible-link manipulator with uncertainty. The fast and slow dynamics are derived based on the singular perturbation (SP) theory. The sliding mode control is proposed while the adaptive design is developed using neural networks (NNs) and disturbance observer (DOB...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi-Wiley
2017-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2017/9430259 |