Adaptive FIT-SMC Approach for an Anthropomorphic Manipulator With Robust Exact Differentiator and Neural Network-Based Friction Compensation

Adaptive FIT-SMC Approach for an Anthropomorphic Manipulator With Robust Exact Differentiator and Neural Network-Based Friction Compensation

In robotic manipulators, feedback control of nonlinear systems with fast finite-time convergence is desirable. However, because of the parametric and model uncertainties, the robust control and tuning of the robotic manipulators pose many challenges related to the trajectory tracking of the robotic...

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Bibliographic Details
Main Authors: Khurram Ali, Safeer Ullah, Adeel Mehmood, Hala Mostafa, Mohamed Marey, Jamshed Iqbal
Format: Article
Language:English
Published: IEEE 2022-01-01
Series:IEEE Access
Subjects:
Robotic manipulator
robust exact differentiator
feedforward neural network
fast integral sliding mode control
LuGre friction model
autonomous articulated robotic educational platform
Online Access:https://ieeexplore.ieee.org/document/9669137/

Internet

https://ieeexplore.ieee.org/document/9669137/

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