• DocumentCode
    3646435
  • Title

    Neuro-sliding mode control of robotic manipulators

  • Author

    M. Ertugrul;O. Kaynak

  • Author_Institution
    TUBITAK, Marmara Res. Centre, Gebze, Turkey
  • fYear
    1997
  • Firstpage
    951
  • Lastpage
    956
  • Abstract
    In this paper, a synergistic combination of neural networks with sliding mode control (SMC) is proposed. As a result, the chattering is eliminated and error performance of SMC is improved. In such an approach, two parallel NNs are proposed to realize SMC. The equivalent control and the corrective term of SMC are the outputs of the NNs. The gradient descent method is used for the weight adaptation. This novel approach is applied to control of a SCARA type robot manipulator and simulation results are given.
  • Keywords
    "Robot control","Manipulators","Sliding mode control","Neural networks","Nonlinear control systems","Control systems","Neurons","Variable structure systems","Robotics and automation","Mechatronics"
  • Publisher
    ieee
  • Conference_Titel
    Advanced Robotics, 1997. ICAR ´97. Proceedings., 8th International Conference on
  • Print_ISBN
    0-7803-4160-0
  • Type

    conf

  • DOI
    10.1109/ICAR.1997.620296
  • Filename
    620296
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3646435