Sliding Mode Control with RBF Neural Network for Two Link Robot Manipulator
نویسندگان
چکیده
منابع مشابه
adaptive control of two-link robot manipulator based on the feedback linearization method and the proposed neural network
This paper proposes an adaptive control method based on the feedback linearization technique and a proposed neural network, for tracking and position control of an industrial manipulator. At first, it is assumed that the dynamics of the system are known and the control signal is constructed by the feedback linearization method. Then to eliminate the effects of the uncertainties and external d...
متن کاملAdaptive RBF network control for robot manipulators
TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...
متن کاملSliding Mode Control for a Robot Manipulator with Passive Joints
In this paper, we propose a sliding mode controller for a robot manipulator with passive joints. A robot manipulator with passive joints which are not equipped with any actuators is a kind of underactuated system. Underactuated systems have some advantages compared to fully-actuated ones. For example, they weigh less and consume less energy because they have smaller number of components than fu...
متن کاملNeural Network MLP with Sliding Mode Controller for Robotic Manipulator
In this paper, MLP network with sliding-mode controller and neural control is designed to the joint position control of two-link robot manipulators for periodic motion and predefined trajectory tracking control. Because the nonlinear nature robot, first the nonlinear and robust method sliding mode as a control theory for the system is chosen. Chattering phenomenon is always a problem of sliding...
متن کاملNeural Network Global Sliding Mode PID Control for Robot Manipulators
This paper presents a neural network global PID-sliding mode control method for the tracking control of robot manipulators with bounded uncertainties. A certain sliding mode controller with PID sliding function is developed. In this controller, the switching gain is tuned by a RBF neural network on the reachable condition of sliding mode. Thus, the effect of chattering can be alleviated. Moreov...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Computer Applications
سال: 2019
ISSN: 0975-8887
DOI: 10.5120/ijca2019919408