This project contains research work on sliding-mode-based control, estimation, and observation of robotic systems.
SafeAdaptiveSuperTwisting: Tracking control of robot manipulators with critical safe constraints using supertwisting sliding mode control- Associated publication: Safe Tracking Control of Euler-Lagrangian Systems Based on A Novel Adaptive Super-twisting Algorithm
ContinuousObserver: Precisely estimating the disturbances or collision forces for robot manipulators- Associated publication: Disturbance estimation for robotic systems using continuous integral sliding mode observer