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Sliding mode control for robust and smooth reference tracking in robot visual servoing

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Sliding mode control for robust and smooth reference tracking in robot visual servoing

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Muñoz-Benavent, P.; Gracia, L.; Solanes, JE.; Esparza, A.; Tornero, J. (2018). Sliding mode control for robust and smooth reference tracking in robot visual servoing. International Journal of Robust and Nonlinear Control. 28(5):1728-1756. https://doi.org/10.1002/rnc.3981

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/140831

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Title: Sliding mode control for robust and smooth reference tracking in robot visual servoing
Author: Muñoz-Benavent, Pau Gracia, Luis Solanes, J. Ernesto Esparza, Alicia Tornero, Josep
UPV Unit: Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
Issued date:
Abstract:
[EN] An approach based on sliding mode is proposed in this work for reference tracking in robot visual servoing. In particular, 2 sliding mode controls are obtained depending on whether joint accelerations or joint jerks ...[+]
Subjects: Control applications , Nonlinear control , Robot system , Robust control , Sliding mode control
Copyrigths: Reserva de todos los derechos
Source:
International Journal of Robust and Nonlinear Control. (issn: 1049-8923 )
DOI: 10.1002/rnc.3981
Publisher:
John Wiley & Sons
Publisher version: https://doi.org/10.1002/rnc.3981
Project ID:
info:eu-repo/grantAgreement/GVA//BEST%2F2017%2F029/
info:eu-repo/grantAgreement/MICINN//BES-2010-038486/ES/BES-2010-038486/
info:eu-repo/grantAgreement/GVA//APOSTD%2F2016%2F044/
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-87656-C2-1-R/ES/VISION ARTIFICIAL Y ROBOTICA COLABORATIVA EN PULIDO DE SUPERFICIES EN LA INDUSTRIA/
Thanks:
Spanish Government, Grant/Award Number: BES-2010-038486; Generalitat Valenciana, Grant/Award Number: BEST/2017/029 and APOSTD/2016/044
Type: Artículo

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