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Optimal Sliding Mode Control for Robots by Phong Tran is a document available to read on EtoBox.
This article presents an optimal integral sliding mode control scheme using a pseudospectral method for robotic manipulators. The proposed controller effectively addresses disturbance and optimizes control performance while adhering to constraints. Stability analysis and simulations demonstrate the effectiveness of the method in ensuring robust trajectory tracking for multi-input multi-output nonlinear systems.
- Author
- Phong Tran
- Language
- EN