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Robust adaptive fuzzy type-2 fast terminal sliding mode control of robot manipulators in attendance of actuator faults and payload variation
Introduction. This study presents a robust control method for the path following problem of the PUMA560 robot. The technique is based on the Adaptive Fuzzy Type-2 Fast Terminal Sliding Mode Control (AFT2FTSMC) algorithm and is designed to handle actuator faults, uncertainties (such as payload change...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
National Technical University "Kharkiv Polytechnic Institute" and Аnatolii Pidhornyi Institute of Power Machines and Systems of NAS of Ukraine
2025
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| Subjects: | |
| Online Access: | http://eie.khpi.edu.ua/article/view/307034 |
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