Sliding mode control of robot manipulator's based on neural network reaching law

被引：0
|
作者：
Chen, Zhimei [1 ]
Zhang, Jinggang [1 ]
Wang, Zhenyan [1 ]
Zeng, Ranchao [1 ]
机构：
[1] Taiyuan Univ Sci & Technol, Sch Elect, Taiyuan, Peoples R China
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1-7 | 2007年
关键词：
feedforward neural network; sliding mode control; reaching law; robot manipulators;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new neural network sliding mode control method of robot manipulators is proposed, which is formed by incorporating sliding mode variable structure control (SWSC) and neural network reaching law. The reaching law parameters are regulated adaptively by two feedforward neural networks (FNNs) respectively. This method converts a multi-input system into n single-input systems. Its control arithmetic is simple and easy to implement. It can not only eliminate the chattering of sliding mode control and strengthen the system robustness, but also improve the character of reaching phase. Tracking errors can promptly converge to a neighborhood of zero. The simulation results of two-degree-of-freedom robot manipulators prove the effectiveness of this scheme.
引用
收藏
页码：2862 / 2865
页数：4
相关论文
共 50 条
  • [1] Sliding Mode Control of Manipulator Based on Improved Reaching Law and Sliding Surface
    Ji, Peng
    Li, Chenglong
    Ma, Fengying
    [J]. MATHEMATICS, 2022, 10 (11)
  • [2] Adaptive neural network based fuzzy sliding mode control of robot manipulator
    Gokhan Ak, Ayca
    Cansever, Galip
    [J]. 2006 IEEE CONFERENCE ON CYBERNETICS AND INTELLIGENT SYSTEMS, VOLS 1 AND 2, 2006, : 771 - +
  • [3] A Double Power Reaching Law of Sliding Mode Control Based on Neural Network
    Zhao, Yu-Xin
    Wu, Tian
    Ma, Yan
    [J]. MATHEMATICAL PROBLEMS IN ENGINEERING, 2013, 2013
  • [4] Sliding mode tracking control of manipulator based on the improved reaching law
    [J]. 1600, International Frequency Sensor Association, 46 Thorny Vineway, Toronto, ON M2J 4J2, Canada (20):
  • [5] A sliding Mode based Control of 2dof Robot Manipulator using Neural Network
    Chaouch, Djamel Eddine
    Ahmed-Foitih, Zoubir
    Khelfi, Mohamed Faycal
    [J]. 2012 6TH INTERNATIONAL CONFERENCE ON SCIENCES OF ELECTRONICS, TECHNOLOGIES OF INFORMATION AND TELECOMMUNICATIONS (SETIT), 2012, : 906 - 911
  • [6] Trajectory tracking control of robot manipulator based on RBF neural network and fuzzy sliding mode
    Wang, Fei
    Chao, Zhi-qiang
    Huang, Lian-bing
    Li, Hua-ying
    Zhang, Chuan-qing
    [J]. CLUSTER COMPUTING-THE JOURNAL OF NETWORKS SOFTWARE TOOLS AND APPLICATIONS, 2019, 22 (Suppl 3): : S5799 - S5809
  • [7] Trajectory tracking control of robot manipulator based on RBF neural network and fuzzy sliding mode
    Fei Wang
    Zhi-qiang Chao
    Lian-bing Huang
    Hua-ying Li
    Chuan-qing Zhang
    [J]. Cluster Computing, 2019, 22 : 5799 - 5809
  • [8] Fuzzy Neural Sliding Mode Control for Robot Manipulator
    Hoang, Duy-Tang
    Kang, Hee-Jun
    [J]. INTELLIGENT COMPUTING METHODOLOGIES, ICIC 2016, PT III, 2016, 9773 : 541 - 550
  • [9] Neural Fuzzy Sliding Mode Control for a Robot Manipulator
    Hu, Shengbin
    Lu, Minxun
    [J]. 2011 INTERNATIONAL CONFERENCE ON COMPUTERS, COMMUNICATIONS, CONTROL AND AUTOMATION (CCCA 2011), VOL II, 2010, : 566 - 569
  • [10] Sliding mode control based on particle swarm optimization neural network and adaptive reaching law
    Chen, Jiqing
    Zhang, Haiyan
    Pan, Shangtao
    Tang, Qingsong
    [J]. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2024, 46 (04) : 741 - 751
12345