Sliding Mode Control for Flexible-link Manipulators Based on Adaptive Neural Networks

doi:10.1007/s11633-018-1122-2

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	Sliding Mode Control for Flexible-link Manipulators Based on Adaptive Neural Networks
	Hong-Jun Yang; Min Tan
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2018
卷号	15 期号:2 页码:239-248
摘要	This paper mainly focuses on designing a sliding mode boundary controller for a single flexible-link manipulator based on adaptive radial basis function (RBF) neural network. The flexible manipulator in this paper is considered to be an Euler-Bernoulli beam. We first obtain a partial differential equation (PDE) model of single-link flexible manipulator by using Hamiltons approach. To improve the control robustness, the system uncertainties including modeling uncertainties and external disturbances are compensated by an adaptive neural approximator. Then, a sliding mode control method is designed to drive the joint to a desired position and rapidly suppress vibration on the beam. The stability of the closed-loop system is validated by using Lyapunov0s method based on inrinite dimensional model, avoiding problems such as control spillovers caused by traditional finite dimensional truncated models. This novel controller only requires measuring the boundary information, which facilitates implementation in engineering practice. Favorable performance of the closed-loop system is demonstrated by numerical simulations.
关键词	Sliding mode control adaptive control neural network flexible manipulator partial differential equation (PDE).
DOI	10.1007/s11633-018-1122-2
引用统计	被引频次：43[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42406
专题	学术期刊_Machine Intelligence Research
作者单位	State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Hong-Jun Yang,Min Tan. Sliding Mode Control for Flexible-link Manipulators Based on Adaptive Neural Networks[J]. International Journal of Automation and Computing,2018,15(2):239-248.
APA	Hong-Jun Yang,&Min Tan.(2018).Sliding Mode Control for Flexible-link Manipulators Based on Adaptive Neural Networks.International Journal of Automation and Computing,15(2),239-248.
MLA	Hong-Jun Yang,et al."Sliding Mode Control for Flexible-link Manipulators Based on Adaptive Neural Networks".International Journal of Automation and Computing 15.2(2018):239-248.

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