What is it about?
The adaptive back-stepping sliding mode controller (ABSMC) algorithm was developed for nonlinear uncertain systems based on a nonlinear disturbance observer (NDO). The developed ABSMC was applied to attitude control for the dual arm of a humanoid robot.
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Why is it important?
The present study showed the effectiveness and applicability of the proposed methods, which reduced the output of the controller and improved the control performance of the humanoid robotic system. The new combined control algorithm, ABSMC, was able to feasibly and efficiently weaken the chattering on the robot’s closed-loop paths, starting and finishing at the same configuration.
Perspectives
Writing this article was a great pleasure as it has co-authors with whom I have had long standing collaborations. This article also lead to excellent team contacting me and ultimately to a greater involvement in humanoid robotic arms research.
keqiang bai
Read the Original
This page is a summary of: Sliding mode nonlinear disturbance observer-based adaptive back-stepping control of a humanoid robotic dual manipulator, Robotica, August 2018, Cambridge University Press,
DOI: 10.1017/s026357471800067x.
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