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Sliding Mode control of Manipulator Using Neural Network  

Yang, Ho-Seog (숭실대학교 대학원)
Lee, Gun-Bok (숭실대학교 기계공학과)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.15, no.5, 2006 , pp. 114-122 More about this Journal
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 teaming 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.
Keywords
Sliding Mode Control; Neural Network; Robot Manipulator; Multi Layer Perceptron; Variable Structure Control;
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