Neural-Network-Based Terminal Sliding-Mode Control of Robotic Manipulators Including Actuator Dynamics.
Liangyong WangTianyou ChaiLianfei ZhaiPublished in: IEEE Trans. Ind. Electron. (2009)
Keyphrases
- robotic manipulator
- external disturbances
- control scheme
- sliding mode control
- closed loop
- position control
- control system
- robot manipulators
- control strategy
- control law
- dynamic model
- end effector
- adaptive fuzzy
- neural network
- visual servoing
- control method
- control strategies
- sliding mode
- adaptive neural
- control algorithm
- fuzzy controller
- inverse kinematics
- degrees of freedom
- pid controller
- fuzzy control
- dynamical systems
- fuzzy logic
- genetic algorithm
- chaotic systems
- optimal control
- support vector machine
- machine learning
- real time