Research on Neural Network Terminal Sliding Mode Control of Robotic Arms Based on Novel Reaching Law and Improved Salp Swarm Algorithm

Research on Neural Network Terminal Sliding Mode Control of Robotic Arms Based on Novel Reaching Law and Improved Salp Swarm Algorithm

Modeling errors and external disturbances have significant impacts on the control accuracy of robotic arm trajectory tracking. To address this issue, this paper proposes a novel method, the neural network terminal sliding mode control (ALSSA-RBFTSM), which combines fast nonsingular terminal sliding...

Full description

Bibliographic Details
Main Authors: Jianguo Duan, Hongzhi Zhang, Qinglei Zhang, Jiyun Qin
Format: Article
Language:English
Published: MDPI AG 2023-12-01
Series:Actuators
Subjects:
robotic arm
fast nonsingular terminal sliding mode
RBF neural network
improved salp swarm algorithm
novel multi-power reaching law
Lyapunov theorem
Online Access:https://www.mdpi.com/2076-0825/12/12/464

Internet

https://www.mdpi.com/2076-0825/12/12/464

Similar Items