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Sliding Mode Control Design of Cleaning Robot's Mobile Manipulator Used in Large Condenser Based on Neural Networks

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2 Author(s)
Tang Hong ; Sch. of Appl. Sci., JiangXi Univ. of Sci. & Technol., Ganzhou, China ; Yang Qing-xuan

Sliding mode control (SMC) of cleaning robot's mobile manipulator based on neural networks which have nonlinear approximation ability is put forward in this article. The controller reduces inherent chattering phenomenon sharply when the uncertainties and external disturbances are unknown. Structure of sliding mode control and neural networkspsila learning algorithms using Lyapunov theorem are designed which guarantees systempsilas stability and dynamic property. Experiment results indicate that the SMC method has strong capacity of resisting disturbance and excellent dynamic characters, can weaken the chattering phenomenon efficiently.

Published in:

Control, Automation and Systems Engineering, 2009. CASE 2009. IITA International Conference on

Date of Conference:

11-12 July 2009