Author

D. Tran

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Open access 2026

Modified Synchronization Sliding Mode Control of a 6-DOF Closed-Kinematic Chain Mechanism Robot Manipulator

This study addresses the motion control of a Closed-Kinematic Chain Mechanism (CKCM) robot manipulator possessing six degrees of freedom (DOF). A major challenge in controlling CKCM manipulators arises from errors in joint coordination, particularly during high accelerations or sudden changes in payload. These errors c...

T. T. C. Duong, Charles C. Nguyen, D. Tran · IEEE Access · 0 citations

Open access 2026

Identification-Assisted Sim-to-Real Reinforcement Learning for Adaptive Sliding Mode Control of Industrial Robotic Manipulators

This paper presents an identification-assisted sim-to-real reinforcement learning framework for adaptive sliding mode control of n-degree-of-freedom (n-DOF) industrial robotic manipulators. Within this framework, a reinforcement-learning-based adaptive sliding mode control with time-delay estimation (ASMCTDERL) algorit...

D. Tran, Thanh Bao Huynh, T. Huynh et al. · IEEE Access · 0 citations