Detailed Information
Cited 0 time in 
Cited 0 time in 
Cited 0 time in
Metadata Downloads
신경회로망을 이용한 매니플레이터의 슬라이딩모드 제어Sliding Mode control of Manipulator Using Neural Network
- Other Titles
- Sliding Mode control of Manipulator Using Neural Network
- Issue Date
- Oct-2006
- Publisher
- 한국생산제조학회
- Keywords
- Sliding Mode Control(슬라이딩 모드 제어); Neural Network(신경회로망); Robot Manipulator(로봇 매니플레이터); Multi Layer Perceptron(다층 페셉트론); Variable Structure Control(가변구조제어); Sliding Mode Control(슬라이딩 모드 제어); Neural Network(신경회로망); Robot Manipulator(로봇 매니플레이터); Multi Layer Perceptron(다층 페셉트론); Variable Structure Control(가변구조제어)
- Citation
- 한국생산제조학회지, v.15, no.5, pp.114 - 122
- Journal Title
- 한국생산제조학회지
- Volume
- 15
- Number
- 5
- Start Page
- 114
- End Page
- 122
- ISSN
- 2508-5093
- 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.
- Files in This Item
- Go to Link
- Appears in
Collections - College of Engineering > ETC > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
Related Researcher
- Lee, Gun Bok
- College of Engineering (School of Mechanical Engineering)