›› 2012, Vol. ›› Issue (03): 709-713.

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Sliding mode control for picking manipulators based on neural-network

JIA He-ming, SONG Wen-long, GUO Jing   

  1. College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China
  • Received:2011-03-21 Online:2012-05-01

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Abstract: Sliding mode controller based on neural-network is presented. The controller drives the picking manipulator of two degrees of freedom to achieve position control. The neural-network controller mimics an equivalent control law in the sliding mode control. A robust controller is chosen to curb the system dynamics on the sliding surface, thus the asymptotic stability can be guaranteed and high-accuracy position tracking control can be achieved. An adaptive law based on Lyapunov stability theory is employed to estimate the uncertainties of the system. Numerical simulations illustrate the excellent position control performance of the picking manipulators, which can fulfill the requirements of engineering application.

Key words: automatic control technology, picking manipulators, sliding mode control, neural network

CLC Number: 

  • TP13
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