Adaptive interval type-2 fuzzy neural network nonsingular fast terminal sliding mode control for cable-driven parallel robots

• Published in: Engineering applications of artificial intelligence Vol. 136; p. 108963
• Main Authors: Oghabi, Emad, Kardehi Moghaddam, Reihaneh, Kobravi, Hamid Reza
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.10.2024
• Subjects: Cable-driven parallel robot; Finite-time stability; Interval type-2 fuzzy systems; Neural networks; Sliding mode control; Interval type-2 fuzzy systems; Finite-time stability; Neural networks; Sliding mode control; Cable-driven parallel robot

Since the cable-driven parallel robots (CDPRs) are subject to the model uncertainty and external disturbances with high nonlinearity, classic trajectory tracking control approaches cannot guarantee a finite-time and robust controlling performance. To solve this problem, the paper proposes a novel ad...