NN Approaches on Fuzzy Sliding Mode Controller Design for Robot Trajectory Tracking

AK A., CANSEVER G.

IEEE International Conference on Control Applications/International Symposium on Intelligent Control, St Petersburg, Rusya, 8 - 10 Temmuz 2009, ss.1170-1171 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/cca.2009.5281060
  • Basıldığı Şehir: St Petersburg
  • Basıldığı Ülke: Rusya
  • Sayfa Sayıları: ss.1170-1171
  • Marmara Üniversitesi Adresli: Evet

Özet

The main problem of sliding mode controllers is that a whole knowledge system parameters is required to compute the equivalent control. Neural networks are used to compute the equivalent control. Standard two layer feed-forward neural network training with the backprobagation algorithm and Radial Basis Function Neural Networks (RBFNN) are the most popular methods that used on robot control. This paper applies these structures to Fuzzy Sliding Mode Control (FSMC). Methods are tested for robot trajectory tracking with computer simulations. Computer simulations of three link robot manipulator show that RBFNN is more efficient on FSMC for trajectory control applications.