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Neural-network-based terminal sliding-mode control of robotic manipulators including actuator Dynamics

Wang, Liangyong, Auteur ; Chai, Tianyou, Auteur ; Zhai, Lianfei, Auteur |

Dans IEEE transactions on industrial electronics (Vol. 56 N° 9, Septembre 2009)

A neural-network-based terminal sliding-mode control (SMC) scheme is proposed for robotic manipulators including actuator dynamics. The proposed terminal SMC (TSMC) alleviates some main drawbacks (such as contradiction between control efforts in[...]

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