DocumentCode :
3744050
Title :
Chattering-free sliding mode control for MIMO nonlinear manipulator systems based on adaptive neural networks
Author :
Xiaomo Yan;Zongyu Zuo;Liping Yin;Aiping Wang;Hong Wang
Author_Institution :
School of Electrical and Electronic Engineering, The University of Manchester, M13 9PL, UK
fYear :
2015
Firstpage :
6300
Lastpage :
6305
Abstract :
This paper presents a multi-layer chattering-free sliding mode controller for manipulator systems. The sliding manifold used in this paper is based on the fixed-time terminal sliding mode control, which guarantees fast convergence of the system trajectories. The singular problem brought by the terminal sliding mode design is solved by introducing a sinusoidal function into the control signal. To avoid the chattering phenomenon in the output of the controller, adaptive neural networks are augmented in the outer layer design. An example of three-degree-of-freedom manipulator is included to show the effectiveness of the proposed algorithm.
Keywords :
"Sliding mode control","Artificial neural networks","Manipulator dynamics","Uncertainty","Adaptive systems"
Publisher :
ieee
Conference_Titel :
Decision and Control (CDC), 2015 IEEE 54th Annual Conference on
Type :
conf
DOI :
10.1109/CDC.2015.7403211
Filename :
7403211
Link To Document :
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