Continuous fuzzy nonsingular terminal sliding mode control of flexible joints robot manipulators based on nonlinear finite time observer in the presence of matched and mismatched uncertainties.
Saeed ZaareMohammad Reza SoltanpourPublished in: J. Frankl. Inst. (2020)
Keyphrases
- sliding mode control
- robot manipulators
- external disturbances
- sliding mode
- variable structure
- control scheme
- fuzzy neural network
- dynamic model
- degrees of freedom
- adaptive fuzzy
- fuzzy sets
- fuzzy logic
- membership functions
- control strategy
- fuzzy numbers
- neural network
- pid controller
- control system
- fuzzy clustering
- control algorithm
- adaptive neural
- learning algorithm