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Research Article |

Intelligent Fault-Tolerant Control for 4-DOF Robotic Manipulator Using Sliding Mode Control and RBFNN Against Lumped Uncertainties

Author(s): Thien-Quang Nguyen1, Vi-Do Tran2*

Published In : International Journal of Electrical and Electronics Research (IJEER)        Volume 14, Issue 2

Publisher : FOREX Publication

Published : 15 June 2026

e-ISSN : 2347-470X

Page(s) : 271-278

DOI: https://doi.org/10.37391/IJEER.140203

Abstract

This paper presents an intelligent fault-tolerant controller to eliminate factors affecting the robot of precise working ability. First, the dynamic mathematical model of a 4 degrees of freedom (DOF) robotic manipulator with uncertainty factors will be presented. Next, the proposed controller is based on a sliding mode controller (SMC) to accurately control the trajectory, and radial basis function neuron networks (RBFNN) estimate the lumped uncertainties occurring in the system. Additionally, some simulations will be performed to validate the performance of the designed controller on MATLAB Simulink. Finally, the effectiveness of the proposed method is quantitatively assessed based on the root mean square error (RMSE).

Keywords: Sliding Mode Control, Radial Basis Function Neuron Networks, Robotic Manipulator, Lumped Uncertainties, Fault-Tolerant Control.




Thien-Quang Nguyen, Faculty of Electrical and Electronics Engineering, Ho Chi Minh City University of Technology and Engineering, Ho Chi Minh City, Vietnam; Email: 2341105@student.hcmute.edu.vn

Vi-Do Tran, Head of Automatic Control Department, Faculty of Electrical and Electronics Engineering, Ho Chi Minh City University of Technology and Engineering, Ho Chi Minh City, Vietnam; Email: dotv@hcmute.edu.vn

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Thien-Quang Nguyen, Vi-Do Tran (2026), Intelligent Fault-Tolerant Control for 4-DOF Robotic Manipulator Using Sliding Mode Control and RBFNN Against Lumped Uncertainties. IJEER 14(2), 271-278. DOI: 10.37391/IJEER.140203.