Abstract
The purpose of this paper is to propose adaptive fuzzy sliding mode control (SMC) based on radial basis function neural network (RBFNN) for trajectory tracking problem of three link robot manipulator. A RBFNN is used to compute the equivalent control of sliding mode control. A Lyapunov function is selected for the design of the SMC and an adaptive algorithm is used for weight adaptation of the RBFNN. Simulation results of three link Scara robot manipulator verify the validity of the proposed controller in the presence of uncertainties
Keywords
SCARA
Control theory (sociology)
Controller (irrigation)
Sliding mode control
Artificial neural network
Computer science
Trajectory
Fuzzy logic
Lyapunov function
Radial basis function
Fuzzy control system
Adaptive control
Robot
Control engineering
Artificial intelligence
Engineering
Nonlinear system
Control (management)
Subject Areas
Adaptive Control of Nonlinear Systems
·Control and Systems Engineering ·Physical Sciences
Iterative Learning Control Systems
·Control and Systems Engineering ·Physical Sciences
Advanced Algorithms and Applications
·Control and Systems Engineering ·Physical Sciences
Citations by Year
2012: 2
2015: 1
2016: 1
2017: 1
2018: 1
2019: 1
2020: 1
2023: 2
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