舰船电子工程Issue(2)：34-37,42,5.DOI:10.3969/j.issn.1672-9730.2016.02.010
机械臂的神经网络滑模变结构控制
Terminal Sliding Mode Control Based on Neural Networks Compensation for Manipulators
潘林豪 1田福庆 1吴作栋2
作者信息
- 1. 海军工程大学兵器系 武汉 430033
- 2. 海军驻 716 所军事代表室 连云港 222061
- 折叠
摘要
Abstract
The terminal sliding mode control with RBF neural network compensator is developed for the robotic manipu‐lators with modeling uncertainties and disturbs .The terminal sliding mode control can guarantee the manipulators' states converging to zero in limited time .The neural network which is trained on line by the Lyapunov theory can estimate the mod‐eling uncertainties and disturbs for compensation .Manipulator's chattering is reduced .Simulation results verify the effect of the control system .关键词
终端滑模控制/神经网络/机械臂/轨迹跟踪/抖振Key words
terminal sliding mode/neural network/manipulators/tracking/chattering分类
信息技术与安全科学引用本文复制引用
潘林豪,田福庆,吴作栋..机械臂的神经网络滑模变结构控制[J].舰船电子工程,2016,(2):34-37,42,5.
