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What is Hybrid Fuzzy Neural Control for Mobile Manipulators about?

This paper presents a hybrid sliding-mode fuzzy neural network (HSMFNN) control methodology for trajectory tracking of a nonholonomic wheeled mobile manipulator, addressing challenges such as parameter uncertainties and external load changes. The proposed control law integrates kinematic and dynamic levels using backstepping techniques, ensuring robust tracking performance without the need for precise system modeling. Simulation results demonstrate the effectiveness of the HSMFNN controller compared to trad

Author

2713thanh

Language

EN