Neuro sliding mode based chatter free control for an artificial muscles robot arm

@article{Boudoua2010NeuroSM,
  title={Neuro sliding mode based chatter free control for an artificial muscles robot arm},
  author={Syrine Boudoua and Faiza Hamerlain and Mustapha Hamerlain},
  journal={The 2010 International Joint Conference on Neural Networks (IJCNN)},
  year={2010},
  pages={1-7}
}
We are concerned with the control of a 3-DOF robot arm actuated by pneumatic rubber muscles. The system is highly non-linear and somehow difficult to model therefore resorting to robust control is required. In order to alleviate the effects of nonlinearities and uncertainties, a combined control strategy based on neural network (NN) and the concept of sliding mode control (SMC) is proposed systematically. In this control structure a simple “two-layer” feedforward neural network (NN) with on… CONTINUE READING

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