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

Abstract:

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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:

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 and 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

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Price:

$35.00

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