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Three link robot control with fuzzy sliding mode controller based on RBF neural network

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dc.contributor.authorsAk, Ayca Gokhan; Cansever, Galip
dc.date.accessioned2022-03-12T15:59:17Z
dc.date.accessioned2026-01-11T08:05:31Z
dc.date.available2022-03-12T15:59:17Z
dc.date.issued2006
dc.description.abstractThe purpose of this paper is to propose adaptive fuzzy Sliding Mode Control (SMC) based on Radial Basis Function Neural Network (RBFNN) for trajectory tracking problem of three link robot manipulator. A RBFNN is used to compute the equivalent control of sliding mode control. A Lyapunov function is selected for the design of the SMC and an adaptive algorithm is used for weight adaptation of the RBFNN. Simulation results of three link Scara robot manipulator verify the validity of the proposed controller in the presence of uncertainties.
dc.identifier.doidoiWOS:000245970800083
dc.identifier.isbn978-0-7803-9798-9
dc.identifier.urihttps://hdl.handle.net/11424/224354
dc.identifier.wosWOS:000245970800083
dc.language.isoeng
dc.publisherIEEE
dc.relation.ispartofPROCEEDINGS OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON INTELLIGENT CONTROL
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.titleThree link robot control with fuzzy sliding mode controller based on RBF neural network
dc.typeconferenceObject
dspace.entity.typePublication
oaire.citation.endPage+
oaire.citation.startPage485
oaire.citation.titlePROCEEDINGS OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON INTELLIGENT CONTROL

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