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

摘要

In this paper, radial basis function network (RBFN) with sliding-mode controller (SMC) is designed to the joint position control of two-link robot manipulators for periodic motion and predefined trajectory tracking control. Radial basis function uses curve fitting mode to obtain the nonlinear mapping. The unavoidable learning procedure degrades its transient performance in the existence of disturbance. Sliding-mode control is effective in overcoming uncertainties and has a fast transient response, while the control effort is discontinuous and creates chattering. For this defect, a saturation function is utilized to improve it. The back-propagation (BP) algorithm and Lyapunov stability theorem are used to decide a suitable update law and sliding-mode switch gain, respectively. Thus, the satisfied performance will be obtained, which better than the controller with single RBFN controller, sliding mode controller. The simulated results of a two-link robotic manipulator for the joint frictions, changing link masses and adding external disturbances are provided to show that the effectiveness of the proposed control scheme.