An efficient control of rigid robotic manipulator with uncertainties using higher order sliding mode control
by Manjusha Bhave; S. Janardhanan; Lillie Dewan
International Journal of Modelling, Identification and Control (IJMIC), Vol. 19, No. 2, 2013

Abstract: A robotic manipulator is a highly non-linear system with uncertainties. Sliding mode control provides a method for reliable tracking for such uncertain non-linear systems. In this work, we present an algorithm based on higher order sliding mode concept for tracking and finite time error convergence for articulated robotic manipulators.

Online publication date: Sat, 27-Sep-2014

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