DocumentCode
702105
Title
Modification of sliding mode controller by neural network with application to a flexible-link
Author
Yazdanpanah, M.J. ; Ghafari, A.
Author_Institution
Dept. of Electrical and Computer Engineering and "Control & Intelligent Processing Centre of Excellence", University of Tehran, P. O. Box: 14395-515, Tehran, Iran
fYear
2003
fDate
1-4 Sept. 2003
Firstpage
1786
Lastpage
1791
Abstract
In this paper, the performance of a free chattering sliding mode controller has been modified by neural network in order to decrease the consumption of energy. In other word, the final goal is to decrease the switching part of the control signal to the lowest level such that under this condition the system states converge to the sliding surface. The designed controller is applied to a flexible-link to control the endpoint position. The flexible-link has one degree of freedom and rotates in horizontal plane. The dynamic model was obtained from an experimental setup. Simulation results reveal the effectiveness of the proposed approach.
Keywords
Biological neural networks; Manipulators; Mathematical model; Switches; Uncertainty; Chattering and Uncertainty; Flexible-Link; Neural Network; Sliding Mode Controller;
fLanguage
English
Publisher
ieee
Conference_Titel
European Control Conference (ECC), 2003
Conference_Location
Cambridge, UK
Print_ISBN
978-3-9524173-7-9
Type
conf
Filename
7085224
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