Terminal Sliding Mode Control Based on Neural Networks Compensation for Manipulators
PAN Linhao
TIAN Fuqing
WU Zuodong
Abstract：The terminal sliding mode control with RBF neural network compensator is developed for the robotic manipu‐lators with modeling uncertainties and disturbs .The terminal sliding mode control can guarantee the manipulators' states converging to zero in limited time .The neural network which is trained on line by the Lyapunov theory can estimate the mod‐eling uncertainties and disturbs for compensation .Manipulator's chattering is reduced .Simulation results verify the effect of the control system .
Keywords：terminal sliding modeneural networkmanipulatorstrackingchattering
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 34-37,42 )