Design of an adaptive tracker forn-link rigid robotic manipulators based on super-twisting global nonlinear sliding mode control

DOI10.1080/00207721.2017.1299812zbMath1371.93137OpenAlexW2616315826MaRDI QIDQ5363138

Lakhdar Ragoub, Saleh Mobayen, Fairouz Tchier

Publication date: 5 October 2017

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

Full work available at URL: https://doi.org/10.1080/00207721.2017.1299812

zbMATH Keywords

robustnesstracking controlleradaptive tuningglobal nonlinear sliding mode: \(n\)-link rigid manipulator

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12) Robot dynamics and control of rigid bodies (70E60)

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