A Sliding Mode Control-based on a RBF Neural Network for Deburring Industry Robotic Systems

doi:10.5772/62002

CORC > 重庆绿色智能技术研究院 > 中国科学院重庆绿色智能技术研究院 > 机器人与3D打印技术创新中心

	A Sliding Mode Control-based on a RBF Neural Network for Deburring Industry Robotic Systems
	Tao, Yong 1; Zheng, Jiaqi 2; Lin, Yuanchang 3
刊名	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	2016-01-22
卷号	13 页码:10
关键词	Sliding Mode Control (SMC) Radial Basis Function Neural Network (RBFNN) Radial Basis Function Neural Network Sliding Mode Control (RBFNN-SMC) Deburring Robotic Control
ISSN号	1729-8806
DOI	10.5772/62002
通讯作者	Tao, Y (reprint author), Beihang Univ, Beijing 100191, Peoples R China.
英文摘要	A sliding mode control method based on radial basis function (RBF) neural network is proposed for the deburring of industry robotic systems. First, a dynamic model for deburring the robot system is established. Then, a conventional SMC scheme is introduced for the joint position tracking of robot manipulators. The RBF neural network based sliding mode control (RBFNN-SMC) has the ability to learn uncertain control actions. In the RBFNN-SMC scheme, the adaptive tuning algorithms for network parameters are derived by a Koski function algorithm to ensure the network convergences and enacts stable control. The simulations and experimental results of the deburring robot system are provided to illustrate the effectiveness of the proposed RBFNN-SMC control method. The advantages of the proposed RBFNN-SMC method are also evaluated by comparing it to existing control schemes.
资助项目	National Natural Science Foundation[61305116] ; Major Science and Technology Projects of the Chongqing Robot Industry[cstc2013jcsf-zdzxqqX0005]
WOS研究方向	Robotics
语种	英语
出版者	INTECH EUROPE
WOS记录号	WOS:000368630800001
内容类型	期刊论文
源URL	[http://119.78.100.138/handle/2HOD01W0/2175]
专题	机器人与3D打印技术创新中心
通讯作者	Tao, Yong
作者单位	1.Beihang Univ, Beijing 100191, Peoples R China 2.Wuhan Univ Sci & Technol, Sch Machinery & Automat, Wuhan, Peoples R China 3.Chinese Acad Sci, Chongqing Inst Green & Intelligent Technol, Chongqing, Peoples R China
推荐引用方式 GB/T 7714	Tao, Yong,Zheng, Jiaqi,Lin, Yuanchang. A Sliding Mode Control-based on a RBF Neural Network for Deburring Industry Robotic Systems[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2016,13:10.
APA	Tao, Yong,Zheng, Jiaqi,&Lin, Yuanchang.(2016).A Sliding Mode Control-based on a RBF Neural Network for Deburring Industry Robotic Systems.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,13,10.
MLA	Tao, Yong,et al."A Sliding Mode Control-based on a RBF Neural Network for Deburring Industry Robotic Systems".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 13(2016):10.