Fuzzy Neural Sliding Mode Control for Robot Manipulator

被引：0

作者：

Hoang, Duy-Tang ^{[1
]}

Kang, Hee-Jun ^{[2
]}

机构：

[1] Univ Ulsan, Grad Sch Elect Engn, Ulsan 680749, South Korea

[2] Univ Ulsan, Sch Elect Engn, Ulsan 680749, South Korea

来源：

INTELLIGENT COMPUTING METHODOLOGIES, ICIC 2016, PT III | 2016年 / 9773卷

关键词：

Fuzzy control; Neural network; Radial basic function neural network; Robot manipulator; Sliding mode control;

D O I：

10.1007/978-3-319-42297-8_50

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A fuzzy neural sliding mode controller (FNNSMC) is proposed for robot manipulators. Sliding mode controller is implemented based on two radial basic function neural networks and a fuzzy system. The first neural network is used to estimate the robot dynamic function. The second neural network combines with a fuzzy system to present the switching control term of sliding mode control. This combination resolves the chattering phenomenon. The stability of proposed controller is proven. Finally, simulation is done on a 2-link serial robot manipulator to verify the effectiveness.

引用

页码：541 / 550

页数：10

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