Lyapunov approach on a homogeneous family of controllers for robotic manipulator
Second order sliding mode has been successfully implemented for solution of real problems for its inherent features such as finite-time convergence and robustness to disturbances. For the first order sliding modes, it is common to deal with the issues of stability, robustness, and convergence rate o...
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| Format: | Thesis (University of Nottingham only) |
| Language: | English |
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2019
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| Online Access: | https://eprints.nottingham.ac.uk/55404/ |