Nonlinear Nonsingular Fast Terminal Sliding Mode Control Using Deep Deterministic Policy Gradient

Background: As a control strategy of industrial robots, sliding mode has the advantages fast response and simple physical implementation, but it still problems chattering low tracking accuracy caused by chattering. This paper proposes new for application robot control, which effectively solves these problems. Methods: In this paper, deep deterministic policy gradient–nonlinear nonsingular terminal (DDPG–NNFTSMC) is proposed control. order to improve anti-interference ability, DDPG used approach uncertainties system in real time, ensures robustness various uncertain environments. Lyapunov function prove stability finite time convergence system. Compared with (NTSMC), reach equilibrium point shorter. With help MATLAB/Simulink, effects are compared traditional (TSMC), NTSMC radial basis function–sliding (RBF–SMC), results showed that had nonsingularity, convergence, small error. The motion ability manipulator was further improved, problem process eliminated.