Adaptive Fast-Terminal Neuro-Sliding Mode Control for Robot Manipulators with Unknown Dynamics and Disturbances

Adaptive Fast-Terminal Neuro-Sliding Mode Control for Robot Manipulators with Unknown Dynamics and Disturbances

This paper presents a novel adaptive fast-terminal neuro-sliding mode control (AFTN-SMC) for a two-link robot manipulator with unknown dynamics and external disturbances. The proposed controller is chattering-free and adaptive to the time-varying system uncertainties. Furthermore, the radial base fu...

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Bibliographic Details
Main Authors: Muhammad Ahsan, Mostafa M. Salah, Ahmed Saeed
Format: Article
Language:English
Published: MDPI AG 2023-09-01
Series:Electronics
Subjects:
adaptive fast-terminal neuro-sliding mode control (AFTN-SMC)
unknown dynamics
time-varying system uncertainties
radial base function neural network (RBFNN)
robot manipulators
Online Access:https://www.mdpi.com/2079-9292/12/18/3856

Internet

https://www.mdpi.com/2079-9292/12/18/3856

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