Three Link Robot Control with Fuzzy Sliding Mode Controller Based on RBF Neural Network

2006 ◽  
Author(s):  
Ayca Ak ◽  
Galip Cansever
Keyword(s):  
Neural Network ◽  
Robot Control ◽  
Sliding Mode ◽  
Rbf Neural Network ◽  
Sliding Mode Controller ◽  
Fuzzy Sliding Mode

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

2011 ◽  
Vol 141 ◽  
pp. 303-307 ◽  
Author(s):  
Sheng Bin Hu ◽  
Min Xun Lu
Keyword(s):  
Neural Network ◽  
Radial Basis Function ◽  
Basis Function ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Rbf Neural Network ◽  
Sliding Mode Controller ◽  
System A ◽  
Radial Basis ◽  
Fuzzy Sliding Mode

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.

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