Tsinghua University Press Ltd. - Neuro-sliding-mode control of flexible-link manipulators based on singularly perturbed model

Author(s): Yu Zhang ; Tangwen Yang ; Zengqi Sun
Publisher: Tsinghua University Press Ltd.
Publication Date: 1 August 2009
Volume: 14
Page(s): 444 - 451
ISSN (Electronic): 1007-0214
DOI: 10.1016/S1007-0214(09)70100-2

A neuro-sliding-mode control (NSMC) strategy was developed to handle the complex nonlinear dynamics and model uncertainties of flexible-link manipulators. A composite controller was designed based... View More