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Research on Adaptive Sliding Mode Robust Control Algorithm of Manipulator Based on RBF Neural Network
Tian, Hua1; Liang, Yanbing2
2020
会议名称Chinese Automation Congress (CAC)
会议录名称2020 CHINESE AUTOMATION CONGRESS (CAC 2020)
页码4625-4629
会议日期2020-11-06
会议地点Shanghai, PEOPLES R CHINA
产权排序1
摘要

This paper proposes a new algorithm for manipulator system-an adaptive sliding mode robust control algorithm based on RBF neural network. Based on the traditional sliding mode control method, the RBF neural network is used to approximate the manipulator model information and external interference. We established the system model of the six-degree-of-freedom manipulator XIOPM developed by our research group. In order to verify the effectiveness and superiority of the algorithm in the simplest possible case, we took the models of the first two joints and performed it through MTALAB. The simulation results are consistent with our expectations. Compared with the movement of the manipulator under traditional sliding mode control, our method can not only make the actual output trajectory of the manipulator system converge to the desired trajectory at a relatively faster speed, but also reduce chattering to a large extent. The control algorithm reduce the disadvantages of traditional sliding mode control. Its good tracking performance and tracking accuracy make this manipulator system well controlled.

关键词Sliding mode ControlAdaptive ControlNeural network ControlRBF Network
作者部门光电跟踪与测量技术研究室
DOI10.1109/CAC51589.2020.9327630
收录类别CPCI
ISBN号978-1-7281-7687-1
语种英语
ISSN号2688-092X;2688-0938
WOS记录号WOS:000678697004130
引用统计
被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.opt.ac.cn/handle/181661/95058
专题光电跟踪与测量技术研究室
通讯作者Tian, Hua
作者单位1.Chinese Acad Sci, Xian Inst Opt & Precis Mech, Univ Chinese Acad Sci, Xian, Peoples R China
2.Chinese Acad Sci, Xian Inst Opt & Precis Mech, Xian, Peoples R China
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Tian, Hua,Liang, Yanbing. Research on Adaptive Sliding Mode Robust Control Algorithm of Manipulator Based on RBF Neural Network[C],2020:4625-4629.
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