A Neural Network Based Sliding Mode Control for Tracking Performance with Parameters Variation of a 3-DOF Manipulator

Hoai-Vu-Anh Truong, Duc-Thien Tran, Kyoung Kwan Ahn
2019 Applied Sciences  
The manipulator, in most cases, works in unstructured and changeable conditions. With large external variations, the demand for stability and robustness must be ensured. This paper proposes a neural network sliding mode control (NNSMC) to cope with uncertainties and improve the behavior of the robotic manipulator in the presence of an external disturbance. The proposed method is applied to the three degrees of freedom (DOF) manipulator. Some comparisons between the proposed and the conventional
more » ... algorithms are given in both simulation and experiments to prove that the designed control can achieve higher accuracy in tracking motion.
doi:10.3390/app9102023 fatcat:5yr3fvmlnbcgtghmyiawnvpfby