FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W4365514243> ?p ?o ?g. }

• W4365514243 endingPage "4899" @default.
• W4365514243 startingPage "4899" @default.
• W4365514243 abstract "Image stabilization is important for snake robots to be used as mobile robots. In this paper, we propose an adaptive robust RBF neural network nonsingular terminal sliding mode control to reduce swinging in the snake robot’s head while it is being driven. To avoid complex dynamic problems and reduce interference during driving, we propose a 2-DOF snake robot’s head system. We designed the control system based on the nonsingular terminal sliding mode control, which ensures a fast response and finite time convergence. To reduce chattering, we incorporated an RBF neural network that can compensate for disturbances. Additionally, we included an adaptive robust term to address the disadvantages of neural network-based control. The adaptive robust term generates control inputs based on the error and is used in conjunction with the reverse saturation function to eliminate chattering. The update law of the neural network and the adaptive robust term is designed based on Lyapunov’s theory. We proved the stability of the proposed controller by investigating finite time convergence before and after the reverse saturation function operation section. Finally, we verified the performance of the proposed controller through computer simulation. The simulation evaluates the controllers using a sinusoidal reference signal similar to snake robot movement and a mixed reference signal considering the controller’s waste case. The proposed controller has excellent tracking performance and improved chattering compared with the previous controller." @default.
• W4365514243 created "2023-04-15" @default.
• W4365514243 creator A5060009768 @default.
• W4365514243 creator A5067545320 @default.
• W4365514243 date "2023-04-13" @default.
• W4365514243 modified "2023-09-25" @default.
• W4365514243 title "Adaptive Robust RBF-NN Nonsingular Terminal Sliding Mode Control Scheme for Application to Snake Robot’s Head for Image Stabilization" @default.
• W4365514243 cites W1481084627 @default.
• W4365514243 cites W1523872141 @default.
• W4365514243 cites W1574164135 @default.
• W4365514243 cites W1964258484 @default.
• W4365514243 cites W1988367613 @default.
• W4365514243 cites W1992048572 @default.
• W4365514243 cites W2002445862 @default.
• W4365514243 cites W2038315492 @default.
• W4365514243 cites W2045839039 @default.
• W4365514243 cites W2046485500 @default.
• W4365514243 cites W2091684407 @default.
• W4365514243 cites W2096925031 @default.
• W4365514243 cites W2099489172 @default.
• W4365514243 cites W2101688785 @default.
• W4365514243 cites W2108953054 @default.
• W4365514243 cites W2123297103 @default.
• W4365514243 cites W2129518264 @default.
• W4365514243 cites W2133869087 @default.
• W4365514243 cites W2167718718 @default.
• W4365514243 cites W2169712669 @default.
• W4365514243 cites W2295731450 @default.
• W4365514243 cites W2326971552 @default.
• W4365514243 cites W2343693428 @default.
• W4365514243 cites W2529775161 @default.
• W4365514243 cites W2580668749 @default.
• W4365514243 cites W2620811908 @default.
• W4365514243 cites W2750739643 @default.
• W4365514243 cites W2766803511 @default.
• W4365514243 cites W2793792270 @default.
• W4365514243 cites W2900806321 @default.
• W4365514243 cites W2965744298 @default.
• W4365514243 cites W2969004038 @default.
• W4365514243 cites W2991479487 @default.
• W4365514243 cites W3006332238 @default.
• W4365514243 cites W3028603653 @default.
• W4365514243 cites W3037813749 @default.
• W4365514243 cites W3047966830 @default.
• W4365514243 cites W3105881406 @default.
• W4365514243 cites W3109042424 @default.
• W4365514243 cites W3139021123 @default.
• W4365514243 cites W3156955855 @default.
• W4365514243 cites W3189894356 @default.
• W4365514243 cites W334761055 @default.
• W4365514243 cites W4200427235 @default.
• W4365514243 cites W4214872888 @default.
• W4365514243 cites W4229003497 @default.
• W4365514243 cites W4312737384 @default.
• W4365514243 cites W4313154097 @default.
• W4365514243 cites W4313889448 @default.
• W4365514243 cites W4324125126 @default.
• W4365514243 cites W4361005577 @default.
• W4365514243 doi "https://doi.org/10.3390/app13084899" @default.
• W4365514243 hasPublicationYear "2023" @default.
• W4365514243 type Work @default.
• W4365514243 citedByCount "0" @default.
• W4365514243 crossrefType "journal-article" @default.
• W4365514243 hasAuthorship W4365514243A5060009768 @default.
• W4365514243 hasAuthorship W4365514243A5067545320 @default.
• W4365514243 hasBestOaLocation W43655142431 @default.
• W4365514243 hasConcept C107464732 @default.
• W4365514243 hasConcept C119599485 @default.
• W4365514243 hasConcept C121332964 @default.
• W4365514243 hasConcept C127413603 @default.
• W4365514243 hasConcept C133731056 @default.
• W4365514243 hasConcept C154945302 @default.
• W4365514243 hasConcept C158622935 @default.
• W4365514243 hasConcept C17500928 @default.
• W4365514243 hasConcept C203479927 @default.
• W4365514243 hasConcept C2775924081 @default.
• W4365514243 hasConcept C2776829284 @default.
• W4365514243 hasConcept C31531917 @default.
• W4365514243 hasConcept C41008148 @default.
• W4365514243 hasConcept C47446073 @default.
• W4365514243 hasConcept C50644808 @default.
• W4365514243 hasConcept C60640748 @default.
• W4365514243 hasConcept C62520636 @default.
• W4365514243 hasConcept C6557445 @default.
• W4365514243 hasConcept C86803240 @default.
• W4365514243 hasConceptScore W4365514243C107464732 @default.
• W4365514243 hasConceptScore W4365514243C119599485 @default.
• W4365514243 hasConceptScore W4365514243C121332964 @default.
• W4365514243 hasConceptScore W4365514243C127413603 @default.
• W4365514243 hasConceptScore W4365514243C133731056 @default.
• W4365514243 hasConceptScore W4365514243C154945302 @default.
• W4365514243 hasConceptScore W4365514243C158622935 @default.
• W4365514243 hasConceptScore W4365514243C17500928 @default.
• W4365514243 hasConceptScore W4365514243C203479927 @default.
• W4365514243 hasConceptScore W4365514243C2775924081 @default.
• W4365514243 hasConceptScore W4365514243C2776829284 @default.
• W4365514243 hasConceptScore W4365514243C31531917 @default.
• W4365514243 hasConceptScore W4365514243C41008148 @default.

• next