Numerical Simulation of Adaptive Radial Basis NN-Based Non-Singular Fast Terminal Sliding Mode Control with Time Delay Estimator for Precise Control of Dual-Axis Manipulator

Robotic manipulators can reduce the cost of production and improve productivity; however, controlling a manipulator to follow desired trajectory is thorny problem. In this study, we introduced various forms interference facilitate modeling dual-axis manipulator. The associated with payload handled by an adaptive radial basis neural network (ARBNN) controller, while other estimated time delay estimator (TDE). control signal output non-singular fast terminal sliding mode controller (NFTSMC) minimize further interference. Since proposed deal payload, system uncertainties, external disturbances, friction, backlash, compared conventional methods, it has better tracking accuracy stability.