Hybrid Neural Sliding Mode Controller Design for Robotic Manipulator

In this paper, we will propose a cooperative control approach that is based on the hybrid grey-neural network with sliding mode control (HGNS) methodology. The main purpose is to eliminate the chattering phenomenon such that the two-link robotic manipulator has a superior tracking response. Moreover, the system performance obtained via the method of the HGNS can be improved. In the present approach, two parallel Neural Networks are utilized to realize a Neuro-Sliding Mode Control. The equivalent control and the corrective control in terms of sliding mode control are the outputs of the Neural Networks. The weights adaptations of Neural Network are determined based on the sliding mode control equations. The proposed method is to investigate tracking control of a two-link robotic manipulator. The results demonstrate that not only the system performances are considerably improved, but also the system exhibits desired stability and robustness. Key-Words: neural, sliding mode, grey, robotic