Robust adaptive control of robots using neural network and sliding mode control

@article{ThaiHuu2013RobustAC,
  title={Robust adaptive control of robots using neural network and sliding mode control},
  author={Nguyen Thai-Huu and Minh Phan-Xuan and Son Hoang-Minh and Dan Nguyen-Cong and Quyet Ho-Gia},
  journal={2013 International Conference on Control, Automation and Information Sciences (ICCAIS)},
  year={2013},
  pages={322-327}
}
This paper presents a method for designing robust adaptive control of strict-feedback systems with function uncertainties and disturbances. A backstepping-based neural network controller is connected in parallel with a sliding mode controller to utilize best advantages of two approaches. The neural network is used to approximate the uncertainty functions, where the weighting coefficients of the neural network are trained online. The robust adaptive control law is designed based on control… CONTINUE READING