Who is working with Non Singular Fast Terminal Sliding Mode Control for robotic trajectory tracking ?

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Mohamed-Mourad Lafifi

Dear Jouila Ameni,

I suggest you to see links and attached files on topic.

A simple non-singular terminal sliding mode control for uncertain robot ...

https://www.researchgate.net/.../328432020_A_simple_non-singula...

An Adaptive Neural Non-Singular Fast-Terminal Sliding-Mode Control ...

https://pdfs.semanticscholar.org/.../48db2d5b2eebe5b94fd0841b8e...

Nonsingular terminal sliding mode control of underwater remotely ...

https://www.nrcresearchpress.com/doi/abs/10.../tcsme-2017-0051

A New Fast Nonsingular Terminal Sliding Mode Control for a ...

https://www.researchgate.net/.../311620233_A_New_Fast_Nonsing...

Best regards

Saeed Zaare

Dear Jouila,

you can see : Article Non-Singular Adaptive Terminal Sliding Mode Control of Rigid...

How can I help you?

Rim Hendel

Dear Ameni,

You can find a several papers dealing with this type of control problems. The robot is just an example of simulation to prove the effectiveness and the feasibility of the proposed controller. you can see the attachments files.

Regards.

Jouila Ameni

Dear all ( Saeed Zaare , Seghiour Abdellatif

, Rim Hendel , Mohamed-Mourad Lafifi )

I'm working on Non-singular Fast Terminal Sliding Mode Controller (NFTSMC) based on Wavelet neural network for trajectory tracking of the robotic arm.

The basic idea consists of expressing the system as a sum of a well-known nominal term and uncertainty, then approximating the uncertainty with a wavelet neural network.

The confusion I'm facing is how to be sure that I have the good approximation?

Regards,

Dear Jouila Ameni

You can see this paper, i think that's useful for you.

Article An Adaptive Neural Non-Singular Fast-Terminal Sliding-Mode C...