Robust adaptive fuzzy type-2 fast terminal sliding mode control of robot manipulators in attendance of actuator faults and payload variation

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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Datum:2025
Hauptverfasser: Rahali, H., Zeghlache, S., Cherif, B. D. E., Benyettou, L., Djerioui, A.
Format: Artikel
Sprache:English
Veröffentlicht: National Technical University "Kharkiv Polytechnic Institute" and Аnatolii Pidhornyi Institute of Power Machines and Systems of NAS of Ukraine 2025
Schlagworte:
robot manipulator
type-2 fuzzy system
fast terminal sliding mode control
adaptive control
Online Zugang:http://eie.khpi.edu.ua/article/view/307034
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Назва журналу:Electrical Engineering & Electromechanics

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Electrical Engineering & Electromechanics

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http://eie.khpi.edu.ua/article/view/307034

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