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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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Bibliographische Detailangaben
Datum:	2025
Hauptverfasser:	Rahali, H., Zeghlache, S., Cherif, B. D. E., Benyettou, L., Djerioui, A.
Format:	Artikel
Sprache:	Englisch
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
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!
Назва журналу:	Electrical Engineering & Electromechanics

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Electrical Engineering & Electromechanics

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