seanres / sliding-mode

Sliding mode control of a robot arm

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sliding-mode

Sliding mode control of a robot arm. Run simulation using 2Link-Sliding-Mode.ipynb, all other files are for reference. Works used for reference listed below:

https://lewisgroup.uta.edu/ee5323/notes/Slotine%20and%20Li%20applied%20nonlinear%20control-%20bad%20quality.pdf

https://d1wqtxts1xzle7.cloudfront.net/63951536/01_2Apr19_19Mar19_3Jan19_17567_edit_lia20200717-99037-147u9mm-libre.pdf?1595053916=&response-content-disposition=inline%3B+filename%3DSliding_mode_control_based_system_for_th.pdf&Expires=1702159027&Signature=VZfI0yM9RBScw0UZWPm4otZ~~Kz7hwMbj88xalY6ELVqVH0fPJpxFY3moBx4QoDCbQuzhZIYboYnRPgVKs2YRMFbOHyxcUWRaKYOxjvyjiiTb0OXDXbFz4i1MhVPUGmzONbmR5dfTEBEKMfDG3LrKLgP6BGeLOHRqFhWICIXZgNIMY33Jb94WgmO--4wvLgJfYgrw1kv96uwOZGj2MOEUHZMuaPqaE7W5iSTanDMFnNPVqexb5Px0sdoE6HVTtxbit78PX58ceDFavXPrpxmVmDW5ZmCI8NtVhbkxLt4G9imfYWama0Oidr67oqTdaLoXwLi8FkEIPpbYw__&Key-Pair-Id=APKAJLOHF5GGSLRBV4ZA

https://pdf.sciencedirectassets.com/280203/1-s2.0-S1877050920X00160/1-s2.0-S1877050920324078/main.pdf?X-Amz-Security-Token=IQoJb3JpZ2luX2VjEHYaCXVzLWVhc3QtMSJHMEUCIEuilptwgYXlgrVEEBjvdc%2BSDCDGbHtXPcAuU5dyfDZNAiEA6hXs14%2Bl5Y0mUeYvnihhqaiJDYQynbThoGN4hz5k%2FeEqvAUI3%2F%2F%2F%2F%2F%2F%2F%2F%2F%2F%2FARAFGgwwNTkwMDM1NDY4NjUiDHFUDC3lUyn7TLMPtyqQBXQn8u6vesPaXHMHlYgziu3GASe5PF%2FOtkUfSsPGX13pLKtH5%2Fog7lmwLKtpiU0Ov6sPtu%2F6OPdNB6MevmqgYFj7NeoN9HLSwu7pFyypWffea9hUrVuzHT%2BOR%2BlJ3%2Bg3kfNkAALqLmgUFUtsqf%2FmuPjvR5EWOVbUwAGQvkyEe%2B7ARKumlTkG8MzfdjKXOsg3%2BiQOWUcwpPcyf30SE1Dfd9Es4Ib7lZjBlQ3GSMtbZLMMrStMphzDqUt2BoL5ZCj7dfc0Gs2bNjP7wWk1I1oM87cfifjChM4JXLdxnpM6x%2Fhj3K%2FEU12eZ0P5Ocpw6D%2BwupS5t8fHORlSOTJczZfCuD2HSJ0x107Dj%2B0rNZMUaRFKYaNgttF16CiCjYJh2f7NszTLJ9xn0mrTe3vf%2BlRl6e6DLKUlCEre7LdrxCvBCAsml5gdwu03YIRABPAepwsSW8Kh7aswxr4nn%2BI4iLUZkPXaY%2FlZOaW88WlVw6C9q7vH%2F%2BPegsHq8d72uW9jSaJ7BjYF5FvhgAjbO8pSAeGZJkvKYtE%2BU0y7Ra%2BkkeN09WfxVL0NyY0GAzxwnuIGKCFyEIiV4iSDoyMJZGssbf6HzxG3k6%2FJ4FR6gv1CYB3fCv0Y%2FgaldbcqRUxohbRsE2kEc3s11u1HH39u%2Bfo%2Fo61UZy659uUcYCFCMZ3Q5KmEhbiXchEtAs3fJ6ytjChSbB%2BeKKxljDoZcUf29EgDq1V7Bhigrg%2F55dnu%2BsAUIyX6FkPKorKI%2Bgeb6RyzfnEoZxoF%2F0%2BfnIQTb98NMckxqCuvvT1GRqRj8DUuLb4ZyBWFjudR9Ogn8qbUSJg4p4svhaffEB3rI7wF86rpT9CLQHG9Cz3DEvgWGeuH0r%2F0QuT8GD2CMMO406sGOrEBy3AxaYve9K%2Bk51v%2BNiA2xWZHr23oGHqyVVgrSjRZrDNTol9yYGxOh9Z2hCDkceqalPwTDm4hcyo%2BFTpT8aHQROuSp6YEjzgQojj9hywfalsTsUW98RD9LTpVlFZdNsjflAsy4fFLIaetYqL07Kx7dXyt2%2BQYcrbB9fglq%2BLFZM0BJFhxyU2%2BoKZ7fSXznWfUmCjNAeuMGiM7yawaM83IumhbpO4f36Qxx3cTLfcQGhWK&X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Date=20231209T220705Z&X-Amz-SignedHeaders=host&X-Amz-Expires=300&X-Amz-Credential=ASIAQ3PHCVTYW4BHPS7K%2F20231209%2Fus-east-1%2Fs3%2Faws4_request&X-Amz-Signature=8bb7bf7e01cec50f0e292cac86df5945d92edc4aeb7cac87c6494f0229a81500&hash=3020cddbe05ed9a3869c12ae53a36070bf7a82900c57d95ff78df7ae44bd692d&host=68042c943591013ac2b2430a89b270f6af2c76d8dfd086a07176afe7c76c2c61&pii=S1877050920324078&tid=spdf-0a7c4c05-21d9-460a-bb80-df703a653c6c&sid=1c9910ff5fefd74cb47bd484fa3fb364f71fgxrqa&type=client&tsoh=d3d3LnNjaWVuY2VkaXJlY3QuY29t&ua=0f155e545d5f5a07520305&rr=83308f1bd9a72081&cc=us

https://github.com/plusk01/nonlinearquad/blob/master/quadsim.ipynb

https://www.youtube.com/watch?v=zRdL_v7JcHc

https://www.youtube.com/watch?v=uqNz45I1xtM

https://vibgyorpublishers.org/content/ijre/fulltext.php?aid=ijre-5-028#ref1

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Sliding mode control of a robot arm


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