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Adaptive Nonsingular Fast Terminal Sliding mode Control of Robotic Manipulator Based Neural Network Approach

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Alternative Title
Adaptive Nonsingular Fast Terminal Sliding mode Control of Robotic Manipulator Based Neural Network Approach
Abstract
The paper addresses an adaptive robust position control for tracking control of a manipulator under the presence of the uncertainties, such as variant payload, modeling error, friction, and external disturbance. The proposed control uses radial basis function neural networks (RBFNN)s to approximate and cancel the uncertainties. The nonsingular fast terminal sliding mode control (NFTSMC) of the proposed control is developed to guarantees a fnite-time convergence and to solve the singular issue of the terminal sliding mode control. Moreover, the learning laws are derived from the Lyapunov approach to ensure the stability and robustness of the whole system. The proposed control is compared with other controllers through both simulations and experiments on a 3-DOF manipulator to exhibit its efciency with the variant payload and the uncertainties.
Author(s)
안경관쩐 득 티엔쯔엉 호아이 부 안
Issued Date
2021
Type
Article
Keyword
Fast terminal sliding mode controlManipulatorRadial basis function neural networkLyapunov approach
DOI
10.1007/s12541-020-00427-4
URI
https://oak.ulsan.ac.kr/handle/2021.oak/8859
https://ulsan-primo.hosted.exlibrisgroup.com/primo-explore/fulldisplay?docid=TN_cdi_nrf_kci_oai_kci_go_kr_ARTI_9755061&context=PC&vid=ULSAN&lang=ko_KR&search_scope=default_scope&adaptor=primo_central_multiple_fe&tab=default_tab&query=any,contains,Adaptive%20Nonsingular%20Fast%20Terminal%20Sliding%20mode%20Control%20of%20Robotic%20%20Manipulator%20Based%20Neural%20Network%20Approach&offset=0&pcAvailability=true
Publisher
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
Location
대한민국
Language
영어
ISSN
2234-7593
Citation Volume
22
Citation Number
3
Citation Start Page
417
Citation End Page
429
Appears in Collections:
Engineering > Mechanical and Automotive Engineering
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