TY - JOUR
T1 - Numerical Simulation of Adaptive Radial Basis NN-Based Non-Singular Fast Terminal Sliding Mode Control with Time Delay Estimator for Precise Control of Dual-Axis Manipulator
AU - Wu, Jim Wei
AU - Cen, Wen Shan
AU - Ho, Cheng Chang
N1 - Publisher Copyright:
© 2022 by the authors.
PY - 2022/10
Y1 - 2022/10
N2 - Featured Application: The proposed method is suitable for application in robotic arm systems. Robotic manipulators can reduce the cost of production and improve productivity; however, controlling a manipulator to follow a desired trajectory is a thorny problem. In this study, we introduced various forms of interference to facilitate the modeling of a dual-axis manipulator. The interference associated with the payload is handled by an adaptive radial basis neural network (ARBNN) controller, while other interference is estimated by a time delay estimator (TDE). The control signal is output by a non-singular fast terminal sliding mode controller (NFTSMC) to minimize further interference. Since the proposed controller can deal with the payload, system uncertainties, external disturbances, friction, and backlash, compared with conventional control methods, it has better tracking accuracy and stability.
AB - Featured Application: The proposed method is suitable for application in robotic arm systems. Robotic manipulators can reduce the cost of production and improve productivity; however, controlling a manipulator to follow a desired trajectory is a thorny problem. In this study, we introduced various forms of interference to facilitate the modeling of a dual-axis manipulator. The interference associated with the payload is handled by an adaptive radial basis neural network (ARBNN) controller, while other interference is estimated by a time delay estimator (TDE). The control signal is output by a non-singular fast terminal sliding mode controller (NFTSMC) to minimize further interference. Since the proposed controller can deal with the payload, system uncertainties, external disturbances, friction, and backlash, compared with conventional control methods, it has better tracking accuracy and stability.
KW - dual-axis robotic manipulator
KW - enhanced dynamic model
KW - non-singular fast terminal sliding mode
KW - radial basis neural network
KW - time delay estimator
UR - http://www.scopus.com/inward/record.url?scp=85139904981&partnerID=8YFLogxK
U2 - 10.3390/app12199605
DO - 10.3390/app12199605
M3 - 期刊論文
AN - SCOPUS:85139904981
SN - 2076-3417
VL - 12
JO - Applied Sciences (Switzerland)
JF - Applied Sciences (Switzerland)
IS - 19
M1 - 9605
ER -