RBF等效滑模控制在并联机器人伺服电机中的应用

The Implementation to Servomotor Based on RBF Neural Network Equivalent to Sliding Mode Variable Structure Control

采用RBF神经网络的等效滑模控制算法对并联机器人伺服电机的控制,既发挥了RBF神经网络具有逼近任意函数的专长,又保留了滑模变结构控制的鲁棒性,克服了滑模变结构控制系统的参数摄动和在外部干扰条件下容易产生抖振,达到了理想的控制效果。

That the theory for servomotor based on RBF neural network equivalent to sliding mode variable structure control not only can keep the good robustness of SMC,but also can depress the dithering especially when the parameter changed or the system got disturbance outside.The ideal control effect was achieved at the end.