@inproceedings{949171e7a1224dbca2265b36b41d65f7,
title = "Fixed-Time Sliding Mode Control for Air-Floating Robot Using Actor-Critic Learning Structure",
abstract = "A fixed-time sliding mode controller is developed for the three-degree-of-freedom air-floating robot (AFR) in the presence of model uncertainties and external disturbances. By dynamics transformation, the complex nonlinear AFR dynamics are transformed into a second-order feedback decoupling model. A neural network enhanced by actor-critic learning structure is designed to handle model uncertainties, and the nonsingular fast terminal sliding mode controller can ensure all signals in the closed-loop system converge to a residual set around the origin within a fixed time. The system stability is proved by Lyapunov theory and the simulation results show the effectiveness of the proposed scheme.",
keywords = "Actor-Critic Learning, Air-Floating Robot, Fixed-Time Control, Model Uncertainties",
author = "Weilun Zhang and Li Li and Zhijie Shao and Xingguo Xu and Guangcheng Ma and Hongwei Xia",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023 ; Conference date: 16-10-2023 Through 19-10-2023",
year = "2023",
doi = "10.1109/IECON51785.2023.10311643",
language = "英语",
series = "IECON Proceedings (Industrial Electronics Conference)",
publisher = "IEEE Computer Society",
booktitle = "IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society",
address = "美国",
}