Vijay, M.Jena, D.2026-02-052018Computers and Electrical Engineering, 2018, 67, , pp. 690-707457906https://doi.org/10.1016/j.compeleceng.2017.11.007https://idr.nitk.ac.in/handle/123456789/25203This paper examines an observer-based backstepping terminal sliding mode controller (BTSMC) for 3 degrees of freedom overhead transmission line de-icing robot manipulator (OTDIRM). The control law for tracking of the OTDIRM is formulated by the combination of BTSMC and neural network (NN) based approximation. For the precise trajectory tracking performance and enhanced disturbance rejection, NN-based adaptive observer backstepping terminal sliding mode control (NNAOBTSMC) is developed. To obviate local minima problem, the weights of both NN observer and NN approximator are adjusted off-line using particle swarm optimization. The radial basis function neural network-based observer is used to estimate tracking position and velocity vectors of the OTDIRM. The stability of the proposed control methods is verified with the Lyapunov stability theorem. Finally, the robustness of the proposed NNAOBTSMC is checked against input disturbances and uncertainties. © 2017 Elsevier LtdAdaptive control systemsBacksteppingDegrees of freedom (mechanics)Disturbance rejectionFlexible manipulatorsIndustrial robotsModular robotsParticle swarm optimization (PSO)Radial basis function networksRobot applicationsTracking (position)Adaptive ControlLyapunov stability theoremNeural network (nn)Overhead transmission linesRadial basis function neural networksRadial basis functional neural networksRobot manipulatorTerminal sliding mode controlSliding mode control