Adaptive neural network terminal sliding mode control for uncertain spatial robot. (13th December 2019)

• Record Type: Journal Article
• Authors: Sun, Chunxiang; Li, Guanjun; Xu, Jin
• Is Part Of: International journal of advanced robotic systems. Volume 16:Number 6(2019:Nov./Dec.)
• Publication Date: 2019-12-13
• Subjects: Sliding mode control -- neural network -- spatial robot; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881419894065
• Languages: English
• ISSNs: 1729-8806

Abstract

The tracking control problem for uncertain spatial robot is investigated by means of adaptive terminal sliding mode control in this article. To approximate unknown nonlinear functions of these systems, a neural network model is employed. By using Lyapunov stability theory, adaptive terminal sliding mode controller is given, which guarantees that the tracking error converges to an arbitrary small region of zero and all the signals remain bounded. Finally, numerical simulation is given to confirm the effectiveness of the proposed method.