Radial basis function neural network with sliding mode control for robotic manipulators

Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics

Volumn , Issue , 2010, Pages 1209-1215

  Lu, Hung Ching ^a   Tsai, Cheng Hung ^b   Chang, Ming Hung ^a  

^a TATUNG UNIVERSITY   (Taiwan)

^b CHINA UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Taiwan)

Author keywords

Back propagation algorithm; Neural network sliding mode controller; Radial basis function network; Two link robotic manipulator

Indexed keywords

CONTROL EFFORT; CONTROL SCHEMES; EXTERNAL DISTURBANCES; FAST TRANSIENT RESPONSE; JOINT FRICTIONS; LEARNING PROCEDURES; LYAPUNOV STABILITY THEOREM; NONLINEAR MAPPINGS; PERIODIC MOTION; RADIAL BASIS FUNCTION NEURAL NETWORKS; RADIAL BASIS FUNCTIONS; RBFN CONTROLLERS; ROBOTIC MANIPULATORS; SATURATION FUNCTION; SIMULATED RESULTS; SLIDING MODE CONTROLLER; SLIDING MODES; TRAJECTORY TRACKING CONTROL; TRANSIENT PERFORMANCE; TWO-LINK; TWO-LINK ROBOT MANIPULATORS;

ATTITUDE CONTROL; BACKPROPAGATION ALGORITHMS; CURVE FITTING; CYBERNETICS; DISCRETE TIME CONTROL SYSTEMS; FLEXIBLE MANIPULATORS; NEURAL NETWORKS; POWER CONTROL; RADIAL BASIS FUNCTION NETWORKS; ROBOT APPLICATIONS; ROBOTICS; ROBOTS; SLIDING MODE CONTROL;

CONTROLLERS;

EID: 78751504440     PISSN: 1062922X     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICSMC.2010.5642384     Document Type: Conference Paper

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