Trajectory tracking of binocular vision system for picking robot based on fast non-singular terminal sliding mode control
Yujin Chen,
Xu Liu,
Mengmeng Cheng
et al.
Abstract:This paper proposes a non-singular fast terminal sliding mode control method for a binocular active vision platform of a picking robot with unknown dynamics. The method uses radial basis function (RBF) neural networks to achieve trajectory tracking accuracy and enhance robustness against external interference. A non-singular fast terminal sliding mode controller is designed for the system’s convergence within a limited time. An adaptive neural network approximates the unknown nonlinear function of the dynamic … Show more
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