Sliding Mode Control for Flexible-link Manipulators Based on Adaptive Neural Networks | |
Hongjun Yang; Min Tan | |
刊名 | International Journal of Automation and Computing |
2018 | |
卷号 | 15期号:2页码:239-248 |
关键词 | Sliding Mode Control Adaptive Control Neural Network Flexible Manipulator Partial Differential Equation |
英文摘要 | 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 Lyapunov’s method based on infinite 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. |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/25792] |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室 |
通讯作者 | Min Tan |
作者单位 | Institute of Automation, Chinese Academy of Sciences |
推荐引用方式 GB/T 7714 | Hongjun 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 | Hongjun 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 | Hongjun 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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