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RBF Neural Network of Sliding Mode Control for Time-Varying 2-DOF Parallel Manipulator System
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-12-02
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
This paper presents a radial basis function (RBF) neural network control scheme for manipulators with actuator nonlinearities.
The control scheme consists of a time-varying sliding mode control (TVSMC) and an RBF neural network compensator.
Since the actuator nonlinearities are usually included in the manipulator driving motor, a compensator using RBF network is proposed to estimate the actuator nonlinearities and their upper boundaries.
Subsequently, an RBF neural network controller that requires neither the evaluation of off-line dynamical model nor the time-consuming training process is given.
In addition, Barbalat Lemma is introduced to help prove the stability of the closed control system.
Considering the SMC controller and the RBF network compensator as the whole control scheme, the closed-loop system is proved to be uniformly ultimately bounded.
The whole scheme provides a general procedure to control the manipulators with actuator nonlinearities.
Simulation results verify the effectiveness of the designed scheme and the theoretical discussion.
American Psychological Association (APA)
Chen, Haizhong& Wo, Songlin. 2013. RBF Neural Network of Sliding Mode Control for Time-Varying 2-DOF Parallel Manipulator System. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-10.
https://search.emarefa.net/detail/BIM-1008676
Modern Language Association (MLA)
Chen, Haizhong& Wo, Songlin. RBF Neural Network of Sliding Mode Control for Time-Varying 2-DOF Parallel Manipulator System. Mathematical Problems in Engineering No. 2013 (2013), pp.1-10.
https://search.emarefa.net/detail/BIM-1008676
American Medical Association (AMA)
Chen, Haizhong& Wo, Songlin. RBF Neural Network of Sliding Mode Control for Time-Varying 2-DOF Parallel Manipulator System. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-10.
https://search.emarefa.net/detail/BIM-1008676
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1008676