Robust sliding composite adaptive control for mechanical manipulators with finite error convergence time

DOI10.1080/00207720010015726zbMath1020.70003OpenAlexW2109568332MaRDI QIDQ3152430

Oscar Barambones, Victor Etxebarria

Publication date: 6 October 2003

Published in: International Journal of Systems Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207720010015726

zbMATH Keywords

closed-loop systemfeedback lawupper error boundmechanical manipulatorsfinite error convergence timerobust sliding composite adaptive controltrajectory-tracking error

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Markov and semi-Markov decision processes (90C40) Robot dynamics and control of rigid bodies (70E60)

Related Items (7)

Composite learning robot control with guaranteed parameter convergence ⋮ Finite-time terminal sliding mode tracking control for piezoelectric actuators ⋮ Adaptive nonsingular fast terminal sliding mode control for electromechanical actuator ⋮ Nonsmooth finite-time control of uncertain second-order nonlinear systems ⋮ Application of logarithmic-based parameter and upper bounding estimation rules to adaptive-robust control of robot manipulators ⋮ Continuous finite-time control for robotic manipulators with terminal sliding mode ⋮ Energy-based approach to sliding composite adaptive control for rigid robots with finite error convergence time

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