Composite Learning Sliding Mode Control of Flexible-Link Manipulator
Joint Authors
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-6, 6 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-08-07
Country of Publication
Egypt
No. of Pages
6
Main Subjects
Abstract EN
This paper studies the control of a flexible-link manipulator with uncertainty.
The fast and slow dynamics are derived based on the singular perturbation (SP) theory.
The sliding mode control is proposed while the adaptive design is developed using neural networks (NNs) and disturbance observer (DOB) where the novel update laws for NN and DOB are designed.
The closed-loop system stability is guaranteed via Lyapunov analysis.
The effectiveness of the proposed method is verified via simulation test.
American Psychological Association (APA)
Xu, Bin& Zhang, Pengchao. 2017. Composite Learning Sliding Mode Control of Flexible-Link Manipulator. Complexity،Vol. 2017, no. 2017, pp.1-6.
https://search.emarefa.net/detail/BIM-1143721
Modern Language Association (MLA)
Xu, Bin& Zhang, Pengchao. Composite Learning Sliding Mode Control of Flexible-Link Manipulator. Complexity No. 2017 (2017), pp.1-6.
https://search.emarefa.net/detail/BIM-1143721
American Medical Association (AMA)
Xu, Bin& Zhang, Pengchao. Composite Learning Sliding Mode Control of Flexible-Link Manipulator. Complexity. 2017. Vol. 2017, no. 2017, pp.1-6.
https://search.emarefa.net/detail/BIM-1143721
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1143721
