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首页> 外文期刊>Applied Sciences >Adaptive Backstepping Sliding Mode Control Based RBFNN for a Hydraulic Manipulator Including Actuator Dynamics
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Adaptive Backstepping Sliding Mode Control Based RBFNN for a Hydraulic Manipulator Including Actuator Dynamics

机译：基于RBFNN的自适应Backstepping滑模控制的液压机械手动态特性。

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In this paper, an adaptive robust control is investigated in order to deal with the unmatched and matched uncertainties in the manipulator dynamics and the actuator dynamics, respectively. Because these uncertainties usually include smooth and unsmooth functions, two adaptive mechanisms were investigated. First, an adaptive mechanism based on radial basis function neural network (RBFNN) was used to estimate the smooth functions. Based on the Taylor series expansion, adaptive laws derive for not only the weighting vector of the RBFNN, but also for the means and standard derivatives of the RBFs. The second one was the adaptive robust laws, which is designed to estimate the boundary of the unsmooth function. The robust gains will increase when the sliding variable leave the predefined region. Conversely, they will significantly decrease when the variable approaches the region. So, when these adaptive mechanisms are derived with the backstepping technique and sliding mode control, the proposed controller will compensate the uncertainties to improve the accuracy. In order to prove stability and robustness of the controlled system, the Lyapunov approach, based on backstepping technique, was used. Some simulation and experimental results of the proposed methodology in the electrohydraulic manipulator were presented and compared to other control to show the effectiveness of the proposed control.
机译：本文研究了一种自适应鲁棒控制，以分别处理机械手动力学和执行器动力学中的不匹配和匹配不确定性。由于这些不确定性通常包括平滑函数和不平滑函数，因此研究了两种自适应机制。首先，基于径向基函数神经网络（RBFNN）的自适应机制被用来估计平滑函数。基于泰勒级数展开式，不仅针对RBFNN的加权矢量，而且针对RBFs的均值和标准导数，都推导了自适应律。第二个是自适应鲁棒定律，其目的是估计不光滑函数的边界。当滑动变量离开预定义区域时，稳健增益将增加。相反，当变量接近该区域时，它们将显着减少。因此，当利用后推技术和滑模控制推导这些自适应机制时，所提出的控制器将补偿不确定性以提高精度。为了证明受控系统的稳定性和鲁棒性，使用了基于反推技术的Lyapunov方法。提出了该方法在电动液压机械手中的一些仿真和实验结果，并将其与其他控件进行了比较，以显示该控件的有效性。

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