Fuzzy sliding mode controller with RBF neural network for robotic manipulator trajectory tracking


Ak A. G. , Cansever G.

INTELLIGENT CONTROL AND AUTOMATION, cilt.344, ss.527-532, 2006 (SCI İndekslerine Giren Dergi) identifier

  • Cilt numarası: 344
  • Basım Tarihi: 2006
  • Dergi Adı: INTELLIGENT CONTROL AND AUTOMATION
  • Sayfa Sayıları: ss.527-532

Özet

This paper proposes a fuzzy sliding mode controller with radial basis function neural network (RBFNN) for trajectory tracking of robot manipulator. The main problem of sliding mode controllers is that a whole knowledge of the system dynamics and system parameters is required to compute the equivalent control. In this paper, a RBFNN is proposed to compute the equivalent control. Computer simulations of three link robot manipulator for trajectory tracking indicate that the proposed method is a good candidate for trajectory control applications.