Sliding Mode Control Design of Cleaning Robot´s Mobile Manipulator Used in Large Condenser Based on Neural Networks

Sliding mode control (SMC) of cleaning robot´s mobile manipulator based on neural networks which have nonlinear approximation ability is put forward in this article. The controller reduces inherent chattering phenomenon sharply when the uncertainties and external disturbances are unknown. Structure of sliding mode control and neural networkspsila learning algorithms using Lyapunov theorem are designed which guarantees systempsilas stability and dynamic property. Experiment results indicate that the SMC method has strong capacity of resisting disturbance and excellent dynamic characters, can weaken the chattering phenomenon efficiently.