Adaptive Backstepping Sliding Mode Control Based RBFNN for a Hydraulic Manipulator Including Actuator Dynamics

Adaptive Backstepping Sliding Mode Control Based RBFNN for a Hydraulic Manipulator Including Actuator Dynamics

In this paper, an adaptive robust control is investigated in order to deal with the unmatched and matched uncertainties in the manipulator dynamics and the actuator dynamics, respectively. Because these uncertainties usually include smooth and unsmooth functions, two adaptive mechanisms were investi...

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Bibliographic Details
Main Authors: Duc-Thien Tran, Hoai-Vu-Anh Truong, Kyoung Kwan Ahn
Format: Article
Language:English
Published: MDPI AG 2019-03-01
Series:Applied Sciences
Subjects:
hydraulic actuator
manipulator
radial basis function neural network
backstepping technique
Taylor series expansion
Lyapunov approach
Online Access:https://www.mdpi.com/2076-3417/9/6/1265

Internet

https://www.mdpi.com/2076-3417/9/6/1265

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