Transactions of the Korean Society of Machine Tool Engineers (한국공작기계학회논문집)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Sliding Mode control of Manipulator Using Neural Network

신경회로망을 이용한 매니플레이터의 슬라이딩모드 제어

  • Published : 2006.10.15
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Abstract

This paper presents a new control scheme that combines a sliding mode control and a neural network. In the proposed sliding mode control, a continuous control is employed removing the switching phenomena and the equivalent control within the boundary layer is estimated through on-line teaming of the neural network. The performances of the proposed control are compared with off-line neural network and on-line neural sliding mode control by computer simulation. The simulation results show that the proposed control reduces high frequency chattering and tracking error in example of the two link manipulator.

Keywords

References

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