Neuro-sliding mode control of robotic manipulators

被引：7
|
作者：
Ertugrul, M
Kaynak, O
机构：
来源：
8TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, 1997 PROCEEDINGS - ICAR'97 | 1997年
关键词：
neural networks; sliding mode control;
D O I：
10.1109/ICAR.1997.620296
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a synergistic combination of neural networks with sliding mode control (SMC) is proposed. As a result, the chattering is eliminated and error performance of SMC is improved. In such an approach, two parallel NNs are proposed to realize SMC. The equivalent control and the corrective term of SMC are the outputs of the NNs. Gradient Decent method is used for the weight adaptation. This novel approach is applied to control of a scara type robot manipulator and simulation results are given.
引用
收藏
页码：951 / 956
页数：6
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