Neuro-sliding Mode Control for Robot Manipulators

被引：0
|
作者：
Jung, Seul [1 ]
机构：
[1] Chungnam Natl Univ, Dept Mechatron Engn, Intelligent Syst & Emot Engn Lab, Daejeon, South Korea
来源：
2016 16TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2016年
基金：
新加坡国家研究基金会;
关键词：
neuro-sliding mode control; robot manipulator; stability;
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：
This paper presents a neuro-sliding mode control method for a robot manipulator. The sliding mode controller requires to identify robot models to lessen the work of the controller although it can be used as a non model-based nonlinear controller. Selection of the gain for the nonlinear function becomes important and affects the performance. To make it easy of selecting the gain, a neural network is used to compensate for the modeling error to form a neuro-sliding control method. Stability analysis for the neuro-sliding control method is provided. Simulation studies of controlling joints of the three-link robot manipulator are presented.
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页码：907 / 911
页数：5
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