A Sliding Mode Control Using Fuzzy-Neural Hierarchical Multi-model Identifier
نویسندگان
چکیده
A Recurrent Trainable Neural Network (RTNN) with a two layer canonical architecture learned by a dynamic Backpropagation learning algorithm is incorporated in a Hierarchical Fuzzy-Neural Multi-Model (HFNMM) identifier, combining the fuzzy model flexibility with the learning abilities of the RTNNs. The local and global features of the proposed HFNMM identifier are implemented by a Hierarchical Sliding Mode Controller (HSMC). The proposed HSMC scheme is applied for 1-DOF mechanical plant with friction control, where the obtained comparative results show that the HSMC with a HFNMM identifier outperforms the SMC with a single RTNN identifier.
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