TY - JOUR
T1 - Sliding mode control of robotic arms with deadzone
AU - Rubio, José De Jesús
N1 - Publisher Copyright:
© 2016 The Institution of Engineering and Technology.
PY - 2017/5/12
Y1 - 2017/5/12
N2 - In this study, a sliding mode controller is designed for the regulation of robotic arms with unknown behaviours in the deadzone and gravity. The sliding mode strategy is employed to compensate the unknown behaviours. Furthermore, the asymptotic stability of the controller is guaranteed by the Lyapunov technique. The application in two robotic arms shows the effectiveness of the proposed technique.
AB - In this study, a sliding mode controller is designed for the regulation of robotic arms with unknown behaviours in the deadzone and gravity. The sliding mode strategy is employed to compensate the unknown behaviours. Furthermore, the asymptotic stability of the controller is guaranteed by the Lyapunov technique. The application in two robotic arms shows the effectiveness of the proposed technique.
UR - http://www.scopus.com/inward/record.url?scp=85019102604&partnerID=8YFLogxK
U2 - 10.1049/iet-cta.2016.0306
DO - 10.1049/iet-cta.2016.0306
M3 - Artículo
SN - 1751-8644
VL - 11
SP - 1214
EP - 1221
JO - IET Control Theory and Applications
JF - IET Control Theory and Applications
IS - 8
ER -