A Survey of Deep Neural Network Sliding Mode Control in Robot Application

摘要

Sliding Mode Control (SMC) has a good effect on solving typical nonlinear robot control systems. But it also has defects such as chattering, which limits its application. With the rapid development of artificial intelligence technology, researchers have proposed a hybrid controller based on Deep Neural Network (DNN) and SMC to improve SMC s control quality. This article introduces the latest research results in this field in recent years and conducts an in-depth analysis of these control algorithms fundamental principles. Finally, the future research directions in this field have prospected.