Continuous output feedback sliding mode control for underactuated flexible-joint robot

DOI10.1016/j.jfranklin.2022.08.020zbMath1497.93040OpenAlexW4292684644MaRDI QIDQ2676115

Huiming Wang, Xianlun Tang, Yunda Yan, Zhize Zhang, Zhen-Hua Zhao

Publication date: 27 September 2022

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2022.08.020

zbMATH Keywords

feedbackflexible-joint robotcontinuous sliding mode controlgeneralized proportional integral observer

Mathematics Subject Classification ID

Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12)

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