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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Bibliographic Details
Main Authors: H. Rahali, S. Zeghlache, B. D. E. Cherif, L. Benyettou, A. Djerioui
Format: Article
Language:English
Published: National Technical University "Kharkiv Polytechnic Institute" 2025-01-01
Series:Electrical engineering & Electromechanics
Subjects:
robot manipulator
type-2 fuzzy system
fast terminal sliding mode control
adaptive control
Online Access:http://eie.khpi.edu.ua/article/view/307034/308418
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