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A Sliding Mode Control-based on a RBF Neural Network for Deburring Industry Robotic Systems

文献类型：期刊论文

作者Tao, Yong1; Zheng, Jiaqi2; Lin, Yuanchang3
刊名INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
出版日期2016-01-22
卷号13页码:10
关键词Sliding Mode Control (SMC) Radial Basis Function Neural Network (RBFNN) Radial Basis Function Neural Network Sliding Mode Control (RBFNN-SMC) Deburring Robotic Control
ISSN号1729-8806
DOI10.5772/62002
通讯作者Tao, Y (reprint author), Beihang Univ, Beijing 100191, Peoples R China.
英文摘要A sliding mode control method based on radial basis function (RBF) neural network is proposed for the deburring of industry robotic systems. First, a dynamic model for deburring the robot system is established. Then, a conventional SMC scheme is introduced for the joint position tracking of robot manipulators. The RBF neural network based sliding mode control (RBFNN-SMC) has the ability to learn uncertain control actions. In the RBFNN-SMC scheme, the adaptive tuning algorithms for network parameters are derived by a Koski function algorithm to ensure the network convergences and enacts stable control. The simulations and experimental results of the deburring robot system are provided to illustrate the effectiveness of the proposed RBFNN-SMC control method. The advantages of the proposed RBFNN-SMC method are also evaluated by comparing it to existing control schemes.
资助项目National Natural Science Foundation[61305116] ; Major Science and Technology Projects of the Chongqing Robot Industry[cstc2013jcsf-zdzxqqX0005]
WOS研究方向Robotics
语种英语
WOS记录号WOS:000368630800001
出版者INTECH EUROPE
源URL[http://119.78.100.138/handle/2HOD01W0/2175]  
专题机器人与3D打印技术创新中心
通讯作者Tao, Yong
作者单位1.Beihang Univ, Beijing 100191, Peoples R China
2.Wuhan Univ Sci & Technol, Sch Machinery & Automat, Wuhan, Peoples R China
3.Chinese Acad Sci, Chongqing Inst Green & Intelligent Technol, Chongqing, Peoples R China
推荐引用方式
GB/T 7714		 Tao, Yong,Zheng, Jiaqi,Lin, Yuanchang. A Sliding Mode Control-based on a RBF Neural Network for Deburring Industry Robotic Systems[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2016,13:10.
APA Tao, Yong,Zheng, Jiaqi,&Lin, Yuanchang.(2016).A Sliding Mode Control-based on a RBF Neural Network for Deburring Industry Robotic Systems.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,13,10.
MLA Tao, Yong,et al."A Sliding Mode Control-based on a RBF Neural Network for Deburring Industry Robotic Systems".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 13(2016):10.

入库方式： OAI收割

来源：重庆绿色智能技术研究院

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