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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Bibliographic Details
Main Authors: Norsahperi, N. M. H., Danapalasingam, K. A.
Format: Article
Published: Academic Press Inc. 2020
Subjects:
Online Access:http://eprints.utm.my/id/eprint/86874/
https://dx.doi.org/10.1016/j.ymssp.2020.106747
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