Browsing by Author "Kao, Yonggui"

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Overcoming control complexity of constrained three-link manipulator using sliding-mode control

Dimirovski, Georgi M.; Liu, Yunlong; Wang, Juan; Kao, Yonggui (IEEE, 2016-10)

For constrained three-link manipulation robots it is shown how the complexity of controlling anthropomorphic arm-like manipulators can be considerable ameliorated by designing a sliding-mode control. First, a representation ...
Soft sliding mode controller design for a class of singular link manipulator by disturbance compensation

Liu, Yunlong; Wang, Juan; Dimirovski, Georgi M.; Dai, Jiangyan; Kao, Yonggui (IEEE, 2017)

Aiming at singular property for a class of link constrained manipulator, the design of soft sliding mode controller is considered by disturbance compensation in this paper. First, a singular system model of a three-link ...