%0 Journal Article
%T Second Order Sliding Mode Trajectory Tracking Control of Robot Based on Neural Network<br>基于神经网络的机器人二阶滑模控制
%A WANG Yan-Yu
%A LIU Guo-Dong
%A <br>王延玉
%A 刘国栋
%J 计算机系统应用
%D 2012
%I 
%X This paper proposes a synergetic controls algorithm by adaptive neural network and Second order sliding mode control. Design a second order sliding mode control method with novelty and facility, and the chattering problem is avoided effectively, Neutral network is used to adaptive learn and compensate the unknown nonlinear model. The learning algorithm for the free neutral network parameters are presented by Lyapunov direct method. The global asymptotic stability is guaranteed. Finally, the control performance of the proposed controller is verified with simulation studies.
%K neural network
%K second order sliding mode control
%K robot<br>神经网络
%K 二阶滑模控制
%K 机器人
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=D4F6864C950C88FFCE5B6C948A639E39&aid=57C6AD9B0ADA05378D40D47680346C04&yid=99E9153A83D4CB11&vid=659D3B06EBF534A7&iid=B31275AF3241DB2D&sid=E514EE58E0E50ECF&eid=9FFCC7AF50CAEBF7&journal_id=1003-3254&journal_name=计算机系统应用&referenced_num=0&reference_num=10