Terminal and Backstepping Sliding Mode Control with Genetic Algorithms for Robot Manipulators
Umut TİLKİ,
Melikcan ÖLGÜN
Abstract:This paper presents two controllers that address the negative effects of external disturbances, parameter variations, and random noise on trajectory tracking for robot manipulators. These controllers were designed for handling variable-mass loads, uncertainties, and disturbances in the robot's dynamic equations. In order to achieve an accurate trajectory tracking and an improved disturbance rejection, Terminal Sliding Mode Control (TSMC) was employed in combination with a Neural Network (NN) with radial basis … Show more
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