Nabanita Adhikary

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In this paper an integral backstepping sliding mode controller is proposed for controlling underactuated systems. A feedback control law is designed based on backstepping algorithm and a sliding surface is introduced in the final stage of the algorithm. The backstepping algorithm makes the controller immune to matched and mismatched uncertainties and the(More)
This paper proposes an adaptive backstepping sliding mode controller with proportional integral derivative (PID) sliding surface for trajectory tracking control of a 6 degrees of freedom (DOF) robotic manipulator. A backstepping controller is combined with a sliding mode controller for imparting robustness against both matched and mismatched uncertainties.(More)
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