Multi-task Trajectory Tracking Control of Manipulator Based on Two-Layer Sliding Mode Control
2022 International Conference on Power Energy Systems and Applications (ICoPESA)(2022)
摘要
The adaptive control of manipulator based on sliding mode control and dynamic equation was originally designed and successfully applied to joint space task tracking. However, in the case of multitasking, it has not been extended in practical engineering, so the controller tends to enforce the main engineering tasks, because the parameters tend to the actual values assumed by the model. In view of ...
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关键词
sliding mode control,manipulator,two-layer control,uncertain disturbance
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