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Barrier Function-Based Integral Sliding Mode Controller Design for a Single-Link Rotary Flexible Joint Robot Cover

Barrier Function-Based Integral Sliding Mode Controller Design for a Single-Link Rotary Flexible Joint Robot

International Journal on Smart Sensing and Intelligent Systems
Volume 17 (2024): Issue 1 (January 2024)
By: Ahmed Mohsen Mohammad,  Shibly Ahmed AL-Samarraie and  Alaa Abdulhady Jaber  
Open Access
|May 2024

Authors

Ahmed Mohsen Mohammad

Control and Systems Engineering Department, University of Technology - Iraq, Baghdad, Iraq
Ministry of Oil, Baghdad, Iraq

Shibly Ahmed AL-Samarraie

Control and Systems Engineering Department, University of Technology - Iraq, Baghdad, Iraq

Alaa Abdulhady Jaber

alaa.a.jaber@uotechnology.edu.iq

Mechanical Engineering Department, University of Technology - Iraq, Baghdad, Iraq
DOI: https://doi.org/10.2478/ijssis-2024-0015 | Journal eISSN: 1178-5608
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Language: English
Submitted on: Sep 13, 2023
Published on: May 4, 2024
Published by: Professor Subhas Chandra Mukhopadhyay
In partnership with: Paradigm Publishing Services
Publication frequency: 1 issue per year
Keywords:
Flexible Joint Robot,
Integral Sliding Mode Control,
Barrier Function,
Trajectory Tracking,
Vibration Reduction
Related subjects:
Engineering,
Introductions and overviews,
Engineering, other

© 2024 Ahmed Mohsen Mohammad, Shibly Ahmed AL-Samarraie, Alaa Abdulhady Jaber, published by Professor Subhas Chandra Mukhopadhyay
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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