RBFNN-based nonsingular fast terminal sliding mode control for robotic manipulators including actuator dynamics.
Ziyang ChenXiaohui YangXiaoping P. LiuPublished in: Neurocomputing (2019)
Keyphrases
- sliding mode control
- rbfnn
- robotic manipulator
- radial basis function neural network
- control scheme
- sensitivity analysis
- control system
- function approximation
- robot manipulators
- control strategy
- rbf neural network
- dynamic model
- closed loop
- neural network
- radial basis function
- adaptive fuzzy
- generalization ability
- hybrid algorithm
- pattern classification
- rbf network
- hidden layer
- hybrid method
- dynamical systems
- robotic systems
- control method
- control algorithm
- partial least squares
- reinforcement learning
- extracted features
- degrees of freedom
- control law
- support vector machine
- fuzzy controller
- genetic algorithm
- feature selection
- feature space
- real time
- dynamic programming
- fuzzy control
- optimal control
- support vector machine svm
- fault diagnosis
- basis functions
- neural network model