Robust Adaptive Sliding Mode Control of Nonlinear Systems Using Neural Network

被引：5

作者：

El Ferik, Sami ^{[1
]}

Mahmoud, Magdi S. ^{[1
]}

Maaruf, Muhammad ^{[1
]}

机构：

[1] King Fahd Univ Petr & Minerals, Syst Engn Dept, Dhahran, Saudi Arabia

来源：

PROCEEDINGS OF THE 2020 17TH INTERNATIONAL MULTI-CONFERENCE ON SYSTEMS, SIGNALS & DEVICES (SSD 2020) | 2020年

关键词：

Adaptive neural network; quadrotor; fast terminal sliding mode control; integral sliding mode control; ROBOT MANIPULATORS;

D O I：

10.1109/SSD49366.2020.9364137

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Many higher order complex nonlinear systems with unknown parameters cannot be expressed in the so called linear-in-the-unknown-parameters form. This brings a huge obstacle to the application of adaptive control to estimate the unknown parameters. Instead of estimating each of the unknown parameters of a function, a feed-forward neural network (NN) can approximate the whole function due to its universal approximation property. In this study, an adaptive neural network integral fast terminal sliding mode controller (NN-IFTSMC) has been proposed for a general n-th order nonlinear systems with parametric uncertainties and external disturbances. The closed loop system has been proven to be bounded near the origin using Lyapunov criterion. The designed control scheme was applied to a quadrotor (UAV) and an excellent trajectories' tracking were obtained.

引用

页码：591 / 596

页数：6

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