Composite learning sliding mode control of flexible-link manipulator

Bin Xu, Pengchao Zhang

科研成果: 期刊稿件文章同行评审

44 引用 (Scopus)

摘要

This paper studies the control of a flexible-link manipulator with uncertainty. The fast and slow dynamics are derived based on the singular perturbation (SP) theory. The sliding mode control is proposed while the adaptive design is developed using neural networks (NNs) and disturbance observer (DOB) where the novel update laws for NN and DOB are designed. The closed-loop system stability is guaranteed via Lyapunov analysis. The effectiveness of the proposed method is verified via simulation test.

源语言英语
文章编号9430259
期刊Complexity
2017
DOI
出版状态已出版 - 7 8月 2017
已对外发布

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