Discrete-time sliding mode control of a direct-drive robot manipulator

Sliding mode control of robotics systems actuated by pneumatic muscles.

“…In [24], for the trajectory control of robot manipulators, a sliding-mode control algorithm is used to estimate the unknown parameter bounds. In [25], a sliding mode control algorithm is designed for a benchmark direct-drive robot. In [26], a sliding mode controller is developed for a two-link rigid robotic manipulator with uncertain modeling.…”