Abstract
Abstract The application of a modified sliding mode controller to the adaptive control of a 2 dof planar manipulator is discussed . The novelty is in a controller structure characterized by the parallel composition of a linear plus a nonlinear switching component. Such a Structure allows one to obtain the smoothness and the disturbance rejection properties of the classical PID compensator while at the same time retaining the robustness properties of the more recently proposed sliding mode compensator. The controller gains are adjusted via self-tuning and adaptive pole placement.
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