Model-Free Tracking Control via Adaptive Dynamic Sliding Mode Control With Application to Robotic Systems

摘要: In this paper, a novel model-free control scheme is developed to enhance the tracking performance of robotic systems based on an adaptive dynamic sliding mode and voltage strategy. strategy, actuator dynamics have not been excluded. other words, instead applied torques robot joints, motor voltages are computed by law. First, designed for system. Then, system, mechanism integrated with control. Since lumped uncertainty unknown in practical applications, upper bound necessary design controller. Hence, estimated The stability closed-loop system proved Lyapunov theorem. simulation results demonstrate superior proposed