An improved optimal integral sliding mode control for uncertain robotic manipulators with reduced tracking error, chattering, and energy consumption
This paper proposes an improved optimal integral sliding mode control (IOISMC) for a robust and optimal tracking control of robotic manipulators under the presence of coupling effects, parameter variations, and external disturbances. By representing the system dynamics in the error coordinate and in...
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Main Authors: | , |
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Format: | Article |
Published: |
Academic Press Inc.
2020
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Subjects: | |
Online Access: | http://eprints.utm.my/id/eprint/86874/ https://dx.doi.org/10.1016/j.ymssp.2020.106747 |
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Institution: | Universiti Teknologi Malaysia |