semantic_scholar2026-08-01Cited by 1
Intelligent robust control design for a 3-DoF industrial manipulator
Loc P. T. Nguyen, Khoi Pham, Thanh T. Tran
TL;DR: A control framework for a 3-DoF industrial manipulator that integrates nonsingular terminal sliding mode control (NTSMC), backstepping design, and a clustering-enhanced radial basis function neural network (RBFNN) is presented, demonstrating practical potential for real-time, high-precision control in uncertain industrial environments.
Precise control of multi-degree-of-freedom (DoF) robotic manipulators is essential in industrial settings, where high tracking accuracy, fast convergence, and robustness to uncertainty are critical. However, many existing methods continue to suffer from high chattering, slow resp…