SLIDING MODE CONTROL (SMC) BASED ON GENETIC ALGORTIHM OPTIMIZATION APPLIED TO MANIPULATOR ROBOT
The dynamical model of manipulator robot is represented by equations systems which are nonlinear and strongly coupled. Furthermore, the inertial parameters of manipulator depend on the payload which is often unknown and variable. So, to avoid these problems we studied sliding mode controller which i...
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| Format: | Theses |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/7096 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |