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Keywords: hierarchical sliding mode controller
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Journal Articles

Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator

Yudong Zhang, Leiying He, Bo Yan, Jianneng Chen, Chuanyu Wu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061014.
Paper No: JMR-22-1409
https://doi.org/10.1115/1.4056577
Published Online: January 23, 2023
.... In this paper, a dynamics model of the elastic tendon-driven manipulator (ETDM) that considers motion coupling is established. A hierarchical sliding mode control (HSMC) method is proposed to realize the trajectory tracking control of the ETDM. On the basis of the Lyapunov design method, the actuator subsliding...
View Article titled, <span class="search-highlight">Hierarchical</span> <span class="search-highlight">Sliding</span> <span class="search-highlight">Mode</span> <span class="search-highlight">Control</span> for the Trajectory Tracking of a Tendon-Driven Manipulator
Open the PDF for <span class="search-highlight">Hierarchical</span> <span class="search-highlight">Sliding</span> <span class="search-highlight">Mode</span> <span class="search-highlight">Control</span> for the Trajectory Tracking of a Tendon-Driven Manipulator in another window
Topics: Actuators, Control equipment, Dynamics (Mechanics), Errors, Manifolds, Manipulators, Simulation, Sliding mode control, Tendons, Tracking control