Composite Learning Sliding Mode Control of Flexible-Link Manipulator

被引：36
|
作者：
Xu, Bin [1 ]
Zhang, Pengchao [1 ]
机构：
[1] Shaanxi Univ Technol, Shaanxi Prov Key Lab Ind Automat, Hanzhong 723000, Shaanxi, Peoples R China
来源：
COMPLEXITY | 2017年
基金：
中国国家自然科学基金;
关键词：
ADAPTIVE-CONTROL;
D O I：
10.1155/2017/9430259
中图分类号：
O1 [数学];
学科分类号：
0701 ; 070101 ;
摘要：
This paper studies the control of a flexible-link manipulator with uncertainty. The fast and slow dynamics are derived based on the singular perturbation (SP) theory. The sliding mode control is proposed while the adaptive design is developed using neural networks (NNs) and disturbance observer (DOB) where the novel update laws for NN and DOB are designed. The closed-loop system stability is guaranteed via Lyapunov analysis. The effectiveness of the proposed method is verified via simulation test.
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收藏
页数：6
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