Fuzzy Sliding Mode Control for a Three-Links Spatial Robot Based on RBF Neural Network

To achieve the tracing control of a three-links spatial robot, a adaptive fuzzy sliding mode controller based on radial basis function neural network is proposed in this paper. The exponential sliding mode controller is divided into two parts: equivalent part and exponential corrective part. To real...

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Veröffentlicht in:Applied Mechanics and Materials 2012-01, Vol.141, p.303-307
Hauptverfasser: Lu, Min Xun, Hu, Sheng Bin
Format: Artikel
Sprache:eng
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Zusammenfassung:To achieve the tracing control of a three-links spatial robot, a adaptive fuzzy sliding mode controller based on radial basis function neural network is proposed in this paper. The exponential sliding mode controller is divided into two parts: equivalent part and exponential corrective part. To realize the control without the model information of the system, a radial basis function neural network is designed to estimate the equivalent part. To diminish the chattering, a fuzzy controller is designed to adjust the corrective part according to sliding surface. The simulation studies have been carried out to show the tracking performance of a three-links spatial robot. Simulation results show the validity of the control scheme.
ISSN:1660-9336
1662-7482
1662-7482
DOI:10.4028/www.scientific.net/AMM.141.303