Articles | Volume 7, issue 1
https://doi.org/10.5194/ms-7-1-2016
https://doi.org/10.5194/ms-7-1-2016
Research article
 | 
15 Jan 2016
Research article |  | 15 Jan 2016

Realisation of model reference compliance control of a humanoid robot arm via integral sliding mode control

S. G. Khan and J. Jalani

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Cited articles

Ajwad, S. A., Ullah, M. I., Baizid, K., and Iqbal, J.: A comprehensive state-of-the-art on control of industrial articulated robots, J. Balkan Tribolog. Assoc., 20, 1310–4772, 2014.
Ajwad, S. A., Iqbal, J., Ullah, M. I., and Mehmood, A.: A systematic review of current and emergent manipulator control approaches, in: Frontiers of Mechanical Engineering, Springer, Berlin, Heidelberg, Germany, 198–210, 2015.
Braun, D., Petit, F., Huber, F., Haddadin, S., van der Smagt, P., Albu-Schäffer, A., and Vijayakumar, S.: Robots Driven by Compliant Actuators, IEEE T. Opt. Control Actuat. Constr. Robot., 29, 1085–1101, 2013.
Castaños, F. and Fridman, L.: Analysis and Design of Integral Sliding Manifolds for Systems With Unmatched Perturbations, IEEE T. Autom. Contr., 51, 853–858, 2006.
Colbaugh, R., Glass, K., and Wedeward, K.: Adaptive Compliance Control of Electrically-Driven Manipulators, in: Proceedings of the 35th Conference on Decision and Control, Kobe, Japan, 394–399, 1996.
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