Adaptive sliding mode control with radial basis function neural network for time dependent disturbances and uncertainties

• Main Authors: Shanta, Mst. Nafisa Tamanna, Zainul Azlan, Norsinnira
• Format: Article
• Language: English; English
• Published: Asian Research Publishing Network (ARPN) 2016
• Subjects: TJ Mechanical engineering and machinery; TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://irep.iium.edu.my/51750/1/adaptive_sliding_mode_control.pdf; http://irep.iium.edu.my/51750/4/51750_Adaptive%20sliding%20mode%20control.pdf; http://irep.iium.edu.my/51750/; http://www.arpnjournals.org/jeas/research_papers/rp_2016/jeas_0316_3932.pdf

A radial basis function neural network (RBFNN) based adaptive sliding mode controller is presented in this paper to cater for a 3-DOF robot manipulator with time-dependent uncertainties and disturbance. RBF is one of the most popular intelligent methods to approximate uncertainties due to its simple...