2022
DOI: 10.1109/access.2021.3139041
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Adaptive FIT-SMC Approach for an Anthropomorphic Manipulator With Robust Exact Differentiator and Neural Network-Based Friction Compensation

Abstract: In robotic manipulators, feedback control of nonlinear systems with fast finite-time convergence is desirable. However, because of the parametric and model uncertainties, the robust control and tuning of the robotic manipulators pose many challenges related to the trajectory tracking of the robotic system. This research proposes a state-of-the-art control algorithm, which is the combination of fast integral terminal sliding mode control (FIT-SMC), robust exact differentiator (RED) observer, and feedforward neu… Show more

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Cited by 22 publications
(14 citation statements)
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“…At the same time, with people's increasing attention to natural resources and the growing awareness of protecting the ecological environment, more and more countries begin to pay attention to the sustainable and healthy growth of marine biodiversity and its related industries. There are also many irrationalities in the growth and utilization of marine resources, such as excessive exploitation, which leads to a large number of waste dumps and serious ecological damage in the sea [9][10]. The relationship between marine resources growth and marine economy is mutual influence, complementary and indivisible.…”
Section: Relationship Between Marine Resources Growth and Marine Economymentioning
confidence: 99%
“…At the same time, with people's increasing attention to natural resources and the growing awareness of protecting the ecological environment, more and more countries begin to pay attention to the sustainable and healthy growth of marine biodiversity and its related industries. There are also many irrationalities in the growth and utilization of marine resources, such as excessive exploitation, which leads to a large number of waste dumps and serious ecological damage in the sea [9][10]. The relationship between marine resources growth and marine economy is mutual influence, complementary and indivisible.…”
Section: Relationship Between Marine Resources Growth and Marine Economymentioning
confidence: 99%
“…It can simulate the information extraction process, pattern recognition, learning and recognition functions of the human brain nervous system and realize the characteristics of automatic simulation and parallel computing. At the same time, it also overcomes the defects of linear instability caused by traditional algorithms and insufficient time-varying phenomena, and can be applied to the fields of complex nonlinear function approximation and unsupervised learning [11][12].…”
Section: Face Recognition Of Intelligent Buildingsmentioning
confidence: 99%
“…23,24 The combination of vision, force information, and multirobot cooperation makes the design of a high-precision automated assembly system possible. [25][26][27][28] The purpose of this paper is to propose a scheme of automatic assembly for micro terminals using double robots. A terminal head clamps a flexible coaxial cable.…”
Section: Introductionmentioning
confidence: 99%