RBF Network Adaptive Sliding Mode Control of Ball and Plate System Based on Reaching Law

Autor:	Jiang-Feng Li, Feng-Hong Xiang
Rok vydání:	2021
Předmět:	Lyapunov function Variable structure control symbols.namesake Multidisciplinary Adaptive control Adaptive algorithm Artificial neural network Control theory Computer science Law symbols Radial basis function Sliding mode control
Zdroj:	Arabian Journal for Science and Engineering. 47:9393-9404
ISSN:	2191-4281 2193-567X
Popis:	Aiming at the slow approach speed and chattering problems of sliding mode variable structure control of the ball and plate system, a Radial Basis Function (RBF) network adaptive control scheme based on the reaching law is proposed. Firstly, a double sliding mode surface is defined, and the dual-speed self-adjusting approach parameters are designed on the basis of the power reaching law; secondly, the RBF neural network is used to approximate the unknown part of the nonlinear model to reduce the fuzzy gain. At the same time, the estimated value of the parameter is employed to replace the neural network weight adjustment, which makes the adaptive algorithm simpler. Finally, Lyapunov theory is used to prove the stability of the controller, and the effectiveness of the controller is verified by simulation.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::264036d7f665e9d5aac55f5d89b81b16 https://doi.org/10.1007/s13369-021-06195-1 Zobrazit plný text záznamu Full text from SpringerLink