Neural network continuous sliding-mode robot control /
In this paper a method for neural network control design with sliding modes in which robustness is inherent is shown. Neural network control is formulated to be a class of variable structure system control. Sliding-mode is used to determine best values for parameters in neural network learning rules...
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| Main Authors: | , , , |
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| Format: | Book Chapter |
| Jezik: | English |
| Teme: | |
| Sorodne knjige/članki: | Vsebovano v:
Advanced robotics |
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| LEADER | 01805naa a2200229 ib4500 | ||
|---|---|---|---|
| 001 | 3622166 | ||
| 003 | SI-MaCOB | ||
| 005 | 19981217000000.0 | ||
| 008 | 980526s1998 xxk|||||||||||||| ||eng c | ||
| 040 | |a KTFMB |b slv |c SI-MaIIZ |d KTFMB |e ppiak | ||
| 080 | |a 007.52 | ||
| 245 | 1 | 0 | |a Neural network continuous sliding-mode robot control / |c Riko Šafarič ... [et al.]. |
| 300 | |a Str. 383-386. | ||
| 500 | |a Soavtorji: Karel Jezernik, Andreja Rojko, Suzana Uran. | ||
| 520 | |a In this paper a method for neural network control design with sliding modes in which robustness is inherent is shown. Neural network control is formulated to be a class of variable structure system control. Sliding-mode is used to determine best values for parameters in neural network learning rules, thereby robustness in learning control can be improved. A switching manifold is prescribed and the phase trajectory is demanded to satisfy both, the reaching condition and the sliding condition modes. Derived equations of the adaptive continuous neural-network sliding mode controller were verified on a real 3 D.O.F.PUMA mechanism. The new controller was successfully tested for trajectory tracking control tasks with respect to two criteria: convergence properties of the proposed control algorithm and adaptation capability of the algorithm for sudden load changes in manipulator dynamics. | ||
| 653 | 0 | |a robotika |a avtomatska regulacija |a drsni režim |a nevronske mreže | |
| 653 | 0 | |a robotics |a automatic control |a sliding mode |a neural networks | |
| 700 | 1 | 2 | |a Šafarič, Riko. |4 aut |
| 700 | 1 | 2 | |a Jezernik, Karel. |4 aut |
| 700 | 1 | 2 | |a Rojko, Andreja. |4 aut |
| 700 | 1 | 2 | |a Uran, Suzana. |4 aut |
| 773 | 0 | |a International symposium on robotics (29 : 1998 : Birmingham) |t Advanced robotics |d [Birmingham : s.n.], 1998 |w 3621142 |z 0952445476 |g Str. 383-386 | |