University Yahia Fares Medea - Adaptive neural higher order terminal sliding mode controller application to trajectory tracking of robotic manipulator

2016 8th International Conference on Modelling, Identification and Control (ICMIC)

Author(s): Amar Rezoug ; Mustapha Hamerlain
Publisher: University Yahia Fares Medea
Publication Date: 1 November 2016
Conference Location: Algiers, Algeria
Conference Date: 15 November 2016
Page(s): 320 - 325
ISBN (Electronic): 978-0-9567157-7-7
DOI: 10.1109/ICMIC.2016.7804130

This paper proposes a hybrid control scheme based on Non-singular Terminal Sliding Mode Control (NTSMC), Higher Order Sliding Mode (HOMS) and Neural Network (NN) structure for n-DOF robot... View More