Sliding Mode Control for Flexible-link Manipulators Based on Adaptive Neural Networks
文献类型：期刊论文
| 作者 | Hong-Jun Yang ; Min Tan
|
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 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 (PDE). |
| ISSN号 | 1476-8186 |
| DOI | 10.1007/s11633-018-1122-2 |
| 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 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. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42406]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 作者单位 | State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China |
| 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. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。