关键词: 机械手, 函数滑模, 神经网络, 轨迹跟踪, 滑模控制

Abstract: A control law based on Function Sliding Mode Controller (FSMC) was proposed for trajectory tracking control of manipulator. The uncertainties of the system were achieved from dynamic model and sliding mode function. Then RBF neural network was used to approach uncertainties of the system. Because of the approximation error of neural network, especially at the initial phase, the function sliding mode controller and robust compensator were designed for error compensation of neural network. The function sliding mode controller was capable of overcoming chattering problem of common Sliding Mode Control (SMC), and improved the tracking ability of the system. The global stability of closed loop system was proved based on Lyapunov theory, the effectiveness of proposed control approach was also demonstrated by simulation results.

Key words: manipulator, function sliding mode, neural network, trajectory tracking, sliding mode control