Neural Network-Based Tracking Control of Uncertain Robotic Systems: Predefined-Time Nonsingular Terminal Sliding-Mode Approach

摘要

This article investigates the predefined time trajectory tracking control of uncertain nonlinear robotic systems. A radial basis function neural network (RBFNN) is used to estimate uncertainties in the robotic system dynamics. To avoid the singularity of terminal sliding-mode control (TSMC), a modified sliding variable is adopted. In order to realize that the tracking errors can converge to a small neighborhood of the origin in <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">predefined time</i> , within which the maximum convergence time can be adjusted by explicit parameters in advance, a nonsingular TSMC based on the RBFNN is proposed. Experiments on a ROKAE platform demonstrate the effectiveness and advantage of the proposed control method.