Sliding mode control based on particle swarm optimization neural network and adaptive reaching law
Jiqing Chen,
Haiyan Zhang,
Shangtao Pan
et al.
Abstract:This paper presents a sliding mode control based on particle swarm optimization neural network and adaptive reaching law, and the proposed control method solves the problem of chattering and tracking performance degradation of a multi-joint manipulator caused by uncertainties such as external disturbances and modeling error. First, to address the problem that the precise dynamic system of the manipulator is difficult to establish, the radial basis function neural network (RBFNN) is used to approximate the unce… Show more
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