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

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.

  Info
Periodical
Chapter
Chapter 3: Functional Manufacturing and Information Technology
Edited by
Hun Guo, Taiyong Wang, Zeyu Weng, Weidong Jin, Shaoze Yan, Xuda Qin, Guofeng Wang, Qingjian Liu and Zijing Wang
Pages
303-307
DOI
10.4028/www.scientific.net/AMM.141.303
Citation
S. B. Hu, M. X. Lu, "Fuzzy Sliding Mode Control for a Three-Links Spatial Robot Based on RBF Neural Network", Applied Mechanics and Materials, Vol. 141, pp. 303-307, 2012
Online since
November 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Xiao Li, Xiao Hua Yang
Abstract:Considering the nonlinear and time-variable characteristics of the injection cylinder system of hydraulic injection molding machine (HIMM), a...
1117
Authors: Yan Li Yang, Zhen Xing Zhang
Chapter 3: Precision Test & Control
Abstract:To solve the chattering problem caused by the general sliding mode control in the active magnetic bearing control, a boundary layer approach...
213
Authors: Guo Qiang Liang, Jun Wei Lei, Xian Jun Shi
Chapter 9: Vibration and Control
Abstract:Considering the pitch channel simplified model of supersonic missile system, a integral type of sliding surface is constructed with the error...
1223