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

Jim Wei Wu, Wen Shan Cen, Cheng Chang Ho

研究成果: 雜誌貢獻期刊論文同行評審

1 引文 斯高帕斯(Scopus)

摘要

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.

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文章編號9605
期刊Applied Sciences (Switzerland)
12
發行號19
DOIs
出版狀態已出版 - 10月 2022

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