Title :
Three link robot control with fuzzy sliding mode controller based on RBF neural network
Author :
Ak, Ayca Gokhan ; Cansever, Galip
Author_Institution :
Marmara Univ., Istanbul
Abstract :
The purpose of this paper is to propose adaptive fuzzy sliding mode control (SMC) based on radial basis function neural network (RBFNN) for trajectory tracking problem of three link robot manipulator. A RBFNN is used to compute the equivalent control of sliding mode control. A Lyapunov function is selected for the design of the SMC and an adaptive algorithm is used for weight adaptation of the RBFNN. Simulation results of three link Scara robot manipulator verify the validity of the proposed controller in the presence of uncertainties
Keywords :
Lyapunov methods; adaptive control; control system synthesis; fuzzy control; manipulators; neurocontrollers; position control; radial basis function networks; variable structure systems; Lyapunov function; Scara; adaptive fuzzy sliding mode control; radial basis function neural network; three link robot manipulator; trajectory tracking; Adaptive control; Fuzzy control; Fuzzy neural networks; Manipulators; Neural networks; Programmable control; Radial basis function networks; Robot control; Sliding mode control; Trajectory;
Conference_Titel :
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE
Conference_Location :
Munich
Print_ISBN :
0-7803-9797-5
Electronic_ISBN :
0-7803-9797-5
DOI :
10.1109/CACSD-CCA-ISIC.2006.4777069
