Adaptive sliding mode control with radial basis function neural network for time dependent disturbances and uncertainties

A radial basis function neural network (RBFNN) based adaptive sliding mode controller is presented in this paper to cater for a 3-DOF robot manipulator with time-dependent uncertainties and disturbance. RBF is one of the most popular intelligent methods to approximate uncertainties due to its simple...

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Main Authors:	Shanta, Mst. Nafisa Tamanna, Zainul Azlan, Norsinnira
Format:	Article
Language:	English English
Published:	Asian Research Publishing Network (ARPN) 2016
Subjects:	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://irep.iium.edu.my/51750/ http://irep.iium.edu.my/51750/ http://irep.iium.edu.my/51750/1/adaptive_sliding_mode_control.pdf http://irep.iium.edu.my/51750/4/51750_Adaptive%20sliding%20mode%20control.pdf

id	iium-51750
recordtype	eprints
spelling	iium-517502017-01-11T00:37:11Z http://irep.iium.edu.my/51750/ Adaptive sliding mode control with radial basis function neural network for time dependent disturbances and uncertainties Shanta, Mst. Nafisa Tamanna Zainul Azlan, Norsinnira TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering A radial basis function neural network (RBFNN) based adaptive sliding mode controller is presented in this paper to cater for a 3-DOF robot manipulator with time-dependent uncertainties and disturbance. RBF is one of the most popular intelligent methods to approximate uncertainties due to its simple structure and fast learning capacity. By choosing a proper Lyapunov function, the stability of the controller can be proven and the update laws of the RBFN can be derived easily. Simulation test has been conducted to verify the effectiveness of the controller. The result shows that the controller has successfully compensate the time-varying uncertainties and disturbances with error less than 0.001 rad. Asian Research Publishing Network (ARPN) 2016-03-20 Article PeerReviewed application/pdf en http://irep.iium.edu.my/51750/1/adaptive_sliding_mode_control.pdf application/pdf en http://irep.iium.edu.my/51750/4/51750_Adaptive%20sliding%20mode%20control.pdf Shanta, Mst. Nafisa Tamanna and Zainul Azlan, Norsinnira (2016) Adaptive sliding mode control with radial basis function neural network for time dependent disturbances and uncertainties. ARPN Journal of Engineering and Applied Sciences, 11 (6). pp. 4123-4129. E-ISSN 1819-6608 http://www.arpnjournals.org/jeas/research_papers/rp_2016/jeas_0316_3932.pdf
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Shanta, Mst. Nafisa Tamanna Zainul Azlan, Norsinnira Adaptive sliding mode control with radial basis function neural network for time dependent disturbances and uncertainties
description	A radial basis function neural network (RBFNN) based adaptive sliding mode controller is presented in this paper to cater for a 3-DOF robot manipulator with time-dependent uncertainties and disturbance. RBF is one of the most popular intelligent methods to approximate uncertainties due to its simple structure and fast learning capacity. By choosing a proper Lyapunov function, the stability of the controller can be proven and the update laws of the RBFN can be derived easily. Simulation test has been conducted to verify the effectiveness of the controller. The result shows that the controller has successfully compensate the time-varying uncertainties and disturbances with error less than 0.001 rad.
format	Article
author	Shanta, Mst. Nafisa Tamanna Zainul Azlan, Norsinnira
author_facet	Shanta, Mst. Nafisa Tamanna Zainul Azlan, Norsinnira
author_sort	Shanta, Mst. Nafisa Tamanna
title	Adaptive sliding mode control with radial basis function neural network for time dependent disturbances and uncertainties
title_short	Adaptive sliding mode control with radial basis function neural network for time dependent disturbances and uncertainties
title_full	Adaptive sliding mode control with radial basis function neural network for time dependent disturbances and uncertainties
title_fullStr	Adaptive sliding mode control with radial basis function neural network for time dependent disturbances and uncertainties
title_full_unstemmed	Adaptive sliding mode control with radial basis function neural network for time dependent disturbances and uncertainties
title_sort	adaptive sliding mode control with radial basis function neural network for time dependent disturbances and uncertainties
publisher	Asian Research Publishing Network (ARPN)
publishDate	2016
url	http://irep.iium.edu.my/51750/ http://irep.iium.edu.my/51750/ http://irep.iium.edu.my/51750/1/adaptive_sliding_mode_control.pdf http://irep.iium.edu.my/51750/4/51750_Adaptive%20sliding%20mode%20control.pdf
first_indexed	2023-09-18T21:13:21Z
last_indexed	2023-09-18T21:13:21Z
_version_	1777411399133167616

Adaptive sliding mode control with radial basis function neural network for time dependent disturbances and uncertainties

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