Chattering-free sliding mode control for a class of nonlinear mechanical systems

DOI10.1002/rnc.598zbMath1001.93012OpenAlexW2029482813MaRDI QIDQ2771042

G. Hirzinger, Vicente Parra-Vega

Publication date: 15 October 2002

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.598

zbMATH Keywords

invariancepassivityrobust trackingrobot dynamicschattering-free sliding mode controldesired transient

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12) Robot dynamics and control of rigid bodies (70E60)

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