Neural-Network-Based Sliding-Mode Control of an Uncertain Robot Using Dynamic Model Approximated Switching Gain

摘要

In this article, a new neural-network-based sliding-mode control (SMC) of an uncertain robot is presented. The distinguishing characteristic of the proposed control scheme is that the switching gain is designed as a dynamic model approximated value, which is handled by using the neural-network strategy to adapt the unknown dynamics and disturbances. In the presented control scheme, the modeling information of the robotic system is not required and only one parameter is required to be estimated in each joint of the robotic system. Subsequently, the Lyapunov method is utilized to prove that the trajectory tracking errors will eventually converge to a neighborhood of zero. Finally, the contrast simulation studies reveal that with the proposed control scheme, the problems of chattering and high-speed switching of control input, which takes place in a conventional SMC, can be addressed, and a satisfactory control precision is guaranteed.