Fast Fractional-Order Terminal Sliding Mode Control With RBFNN Based Sliding Perturbation Observer for 7-DOF Robot Manipulator.
Jie WangMin Cheol LeeJaehyung KimKim Hyun HeePublished in: IEEE Access (2021)
Keyphrases
- robot manipulators
- rbfnn
- pid controller
- rbf neural network
- radial basis function
- rbf network
- bp neural network
- fault diagnosis
- hidden layer
- function approximation
- degrees of freedom
- data fusion
- generalization ability
- neural network model
- fuzzy clustering
- sensitivity analysis
- neural network
- hybrid algorithm
- control system
- fuzzy control
- control method
- particle swarm optimization
- control scheme
- artificial neural networks
- closed loop
- support vector machine svm
- dynamic programming
- motion planning
- computational intelligence
- evolutionary algorithm
- fuzzy c means
- expert systems
- feedback control
- support vector