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Sliding Mode Control of Flexible Joint Using Gaussian Radial Basis Function Neural Networks

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4 Author(s)
Farivar, F. ; Dept. of Mechatron. Eng., Islamic Azad Univ., Tehran ; Shoorehdeli, M.A. ; Nekoui, M.A. ; Teshnehlab, M.

This paper, describes a hybrid control method to control a flexible joint. Dynamic equation of the system has been derived. The designed controllers consist of two parts: classical controller, which is a Linear Quadratic Regulation (LQR), and a hybrid controller,utilizing sliding mode control using Gaussian Radial Basis Function Neural Networks (RBFNN). The RBFNN is trained during the control process and it is not necessary to be trained off-line.

Published in:

Computer and Electrical Engineering, 2008. ICCEE 2008. International Conference on

Date of Conference:

20-22 Dec. 2008