Name
Title | ||
|---|---|---|
Motion planning and adaptive neural sliding mode tracking control for positioning of uncertain planar underactuated manipulator. |
Abstract | ||
|---|---|---|
•Adaptive fast terminal sliding mode controllers based on an improved RBF neural network are designed for precisely and quickly tracking the planned trajectories.•An online iteration algorithm is presented to correct the angular deviations caused by the parameter perturbation.•An effective robust control scheme is developed for positioning of a class of uncertain planar underactuated manipulator. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1016/j.neucom.2019.01.026 | Neurocomputing |
Keywords | Field | DocType |
Planar underactuated manipulator,Robust control,Motion planning and tracking,RBF neural network,Adaptive terminal sliding mode control,Differential evolution algorithm | Motion planning,Convergence (routing),Pattern recognition,Control theory,Equilibrium point,Tracking system,Artificial intelligence,Terminal sliding mode,Underactuation,Robust control,Mathematics,Actuator | Journal |
Volume | ISSN | Citations |
334 | 0925-2312 | 1 |
PageRank | References | Authors |
0.37 | 18 | 4 |