Adaptive Neural Network Controller-Based Chattering-Free Sliding Mode for 6-Dof Industrial Manipulators

This paper reports our studies on a chattering-free sliding mode-based adaptive neural network controller to deal with disturbances and uncertainties. The main contribution of this work is to build and to apply the chattering-free adaptive neural network controller onto a complex and uncertain target, a 6-DOF industrial manipulator. Moreover, this implementation is also evaluated by comparing with other existing controllers. The proposed controller yields elegant features of sliding mode control including fast response, robustness, and free-chattering control effort. Radial basis function neural network is employed to deal with unknown bounded disturbances and uncertainties. Simulations are conducted to verify the proposed controller performance.