신경회로망을 이용한 매니플레이터의 슬라이딩모드 제어

Abstract

This Paper presents a new control scheme that combines a sliding mode control and a neural network. In the proposed sliding mode control, a continuous control is employed removing the switching phenomena and the equivalent control within the boundary layer is estimated through on-line learning of the neural network. The performances of the proposed control are compared with off-line neural network and on-line neural sliding mode control by computer simulation. The simulation results show that the proposed control reduces high frequency chattering and tracking error in example of the two link manipulator.