Extremum Seeking-Based Adaptive Sliding Mode Control with Sliding Perturbation Observer for Robot Manipulators
Hamza Khan,Min Cheol Lee,Hamza Khan,Min Cheol Lee
This paper proposed an adaptive robust sliding mode control (SMC) with a nonlinear sliding perturbation observer (SPO) for robot manipulators. SPO estimates the perturbation (nonlinearities, uncertainties, and disturbances) with minimal system information and enhances the controller performance. The estimation is mainly dependent on the selection of SMCSPO gain, and if not tuned well, it might res...
