Abstract
This chapter introduces three kinds of sliding mode controllers design for robot, including sliding mode controller design based on input-output stability, sliding mode controller design based on computed torque method and adaptive sliding mode controller design for manipulator.
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References
Sadao kawamura, Mikhail Svinin. eds., Advances in Robot Control: From Everyday physics to Human-like Movements. Springer, 2006
Slotine JE, Li WP. On the adaptive control of robot manipulators. The Interational Journal of Robotics Research, 1987, 6(3): 49–59
Slotine JE, Li WP. Applied Non Linear Control. Prentice Hall, 1991
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© 2011 Tsinghua University Press, Beijing and Springer-Verlag Berlin Heidelberg
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Liu, J., Wang, X. (2011). Sliding Mode Control for Robot. In: Advanced Sliding Mode Control for Mechanical Systems. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-20907-9_11
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DOI: https://doi.org/10.1007/978-3-642-20907-9_11
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-20906-2
Online ISBN: 978-3-642-20907-9
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