Integrated sliding mode control of robot manipulator based on fuzzy adaptive RBF

Integrated sliding mode control of robot manipulator based on fuzzy adaptive RBF

To solve the uncertainty of the parameters of the manipulator dynamics model, the control accuracy and convergence rate of the system affected by the joint friction and external interference, a compound control strategy based on the manipulator dynamics model is proposed. Firstly, a modified power-o...

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Bibliographic Details
Main Authors: FENG Jiaqing, ZHANG Lei, TIAN Dongyu
Format: Article
Language:zho
Published: EDP Sciences 2024-12-01
Series:Xibei Gongye Daxue Xuebao
Subjects:
mechanical arm
orbit tracking
self-adaptive rbf neural network
fuzzy offset
integral sliding mode
Online Access:https://www.jnwpu.org/articles/jnwpu/full_html/2024/06/jnwpu2024426p1099/jnwpu2024426p1099.html
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