Robust Sliding Mode Control for Robot Manipulators

Abstract

In the face of large-scale parametric uncertainties, the single-model (SM)-based sliding mode control (SMC) approach demands high gains for the observer, controller, and adaptation to achieve satisfactory tracking performance. The main practical problem of having high-gain-based design is that it amplifies the input and output disturbance as well as excites… (More)
DOI: 10.1109/TIE.2010.2062472

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