Backstepping sliding mode control based on dual-path extreme learning machine and disturbance observer for robotic manipulator trajectory tracking

Xumei Lin, Chenglong Yin, Zhiyuan Zhang, Runze XuSchool of Information and Control Engineering, Qingdao University of Technology

Transactions of the Institute of Measurement and Control

Published online on March 25, 2026

Abstract

Transactions of the Institute of Measurement and Control, Ahead of Print.
To achieve high-precision trajectory tracking for robotic manipulators subject to unknown nonlinearities and external disturbances, a backstepping sliding mode control strategy incorporating a dual-path extreme learning machine (DP-ELM) and a disturbance ...