Szczegóły publikacji
Opis bibliograficzny
Adaptive fast-terminal neuro-sliding mode control for robot manipulators with unknown dynamics and disturbances / Muhammad Ahsan, Mostafa M. Salah, Ahmed Saeed // Electronics [Dokument elektroniczny]. — Czasopismo elektroniczne ; ISSN 2079-9292 . — 2023 — vol. 12 iss. 18 art. no. 3856, s. 1–15. — Wymagania systemowe: Adobe Reader. — Bibliogr. s. 14–15, Abstr. — Publikacja dostępna online od: 2023-09-12. — M. Ahsan - afiliacja: Department of Measurements and Control Systems, Silesian University of Technology, Gliwice, Poland
Autorzy (3)
- Ahsan Muhammad
- Salah Mostafa M.
- Saeed Ahmed
Słowa kluczowe
Dane bibliometryczne
| ID BaDAP | 165527 |
|---|---|
| Data dodania do BaDAP | 2026-01-21 |
| Tekst źródłowy | URL |
| DOI | 10.3390/electronics12183856 |
| Rok publikacji | 2023 |
| Typ publikacji | artykuł w czasopiśmie |
| Otwarty dostęp |  |
| Creative Commons | |
| Czasopismo/seria | Electronics |
Abstract
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 function neural network (RBFNN) is employed to approximate the unknown state dynamics. The simulations have been completed in MATLAB, which illustrates the successful implementation of the proposed controller. The results showcased the effectiveness of the AFTN-SMC in achieving accurate tracking and stability, even in the presence of uncertainties and parameter variations. The incorporation of the RBFNN in the controller proved to be a valuable tool for approximating the unknown dynamics, enabling accurate estimation and control of the manipulator’s behavior. The research presented in this paper contributes to the advancement in control techniques for robot manipulators in diverse industrial and automation applications. © 2023 by the authors.
