Improved Adaptive Sliding Mode Control Using Quasi-Convex Functions and Neural Network-Assisted Time-Delay Estimation for Robotic Manipulators

Improved Adaptive Sliding Mode Control Using Quasi-Convex Functions and Neural Network-Assisted Time-Delay Estimation for Robotic Manipulators

This study presents an adaptive sliding mode control strategy tailored for robotic manipulators, featuring a quasi-convex function-based control gain and a time-delay estimation (TDE) enhanced by neural networks. To compensate for TDE errors, the proposed method utilizes both the previous TDE error...

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Bibliographic Details
Main Authors: Jin Woong Lee, Jae Min Rho, Sun Gene Park, Hyuk Mo An, Minhyuk Kim, Seok Young Lee
Format: Article
Language:English
Published: MDPI AG 2025-07-01
Series:Sensors
Subjects:
robotic manipulator
adaptive sling mode control
uniform ultimate boundedness
time-delay control
neural networks
Online Access:https://www.mdpi.com/1424-8220/25/14/4252
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