A novel trajectory tracking control approach for uncertain 6-DOF manipulators based on fuzzy sliding mode of radial basis function neural network.
Youyu LiuBo ChenLiteng MaSiyang YangRenjun LiYongcun GuoPublished in: J. Syst. Control. Eng. (2023)
Keyphrases
- sliding mode
- radial basis function neural network
- control law
- variable structure
- rbfnn
- adaptive control
- sliding mode controller
- sliding mode control
- stability analysis
- pattern classification
- degrees of freedom
- motion planning
- radial basis function
- control strategy
- control scheme
- parameter uncertainties
- nonlinear systems
- path planning
- trajectory tracking
- closed loop
- control system
- rbf neural network
- control algorithm
- control theory
- neural network
- back propagation
- multilayer perceptron
- function approximation
- adaptive fuzzy
- sensitivity analysis
- decision making
- linear matrix inequality
- optimal control
- hybrid algorithm
- rbf network
- robot manipulators
- real time
- fuzzy controller
- control parameters
- autonomous robots
- control method
- dynamical systems
- hidden layer
- state space
- guaranteed cost