Based on the principle of sliding mode control, a new scheme of decentralized adaptive sliding mode controller is proposed for a class of nonlinear composite systems with similarity.
This paper proposed a new class of robust adaptive decentralized control strategies based on nonlinear sliding mode for trajectory tracking of robot manipulators with uncertainties.
提出了一类基于非线性滑动模的鲁棒自适应分散控制策略，用于不确定性机器人的轨迹跟踪。
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A new variable structure adaptive control scheme is proposed. The scheme consists of conventional model reference adaptive control and sliding mode control.