Hilal Rahali

Robust adaptive fuzzy type-2 fast terminal sliding mode control of robot manipulators in attendance of actuator faults and payload variation

2025 · Electrical Engineering & Electromechanics

Introduction. This study presents a robust control method for the path following problem of the PUMA560 robot. The technique is based on the Adaptive Fuzzy Type-2 Fast Terminal Sliding Mode Control (AFT2FTSMC) algorithm and is …