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Trajectory tracking is one of the most control tasks for robotic manipulators. To take the advantages of nonlinear PD (NPD) control and sliding mode control (SMC), a NPD-SMC law is proposed for tracking control of a 3-DOF planar robotic manipulator. The NPD-SMC is a nonlinear feedback control without the requirement of system dynamic modeling. The proposed NPD-SMC is applied for linear and nonlinear...
In this paper, an adaptive proportional-derivative (PD) plus sliding mode control (SMC) algorithm, APD-SMC in short, is proposed for tracking control of robotic manipulators. The PD control part is used to bring the trajectory to the normalized tracking, the SMC part forces the trajectory close to the sliding surface, and the adaptive control part is used to estimate the dynamics of the system. The...
In this paper, a nonlinear PD-type control law is proposed in position domain and applied to contour tracking control of a robotic manipulator. In the developed control system, the robotic motions are viewed as a master motion, controlled in time domain, and slave motions controlled in position domain. The master motion is used as a reference for the slave motions, and the slave motions are synchronized...
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