신경회로망을 이용한 매니플레이터의 슬라이딩모드 제어

초록

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.

키워드