Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Sliding Mode Controller Using Neural Network for Underwater Robot Manipulator

해저작업 로봇 매니퓰레이터를 위한 신경회로망을 이용한 슬라이딩 모드 제어기

  • 이민호 (경북대학교 센서공학과 센서기술연구소) ;
  • 최형식 (한국해양대학교 기계정보공학과)
  • Published : 2000.04.01
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Abstract

This paper presents a new control scheme using a sliding mode controller with a multilayer neural network for the robot manipulator operating under the sea which has large uncertainties such as the buoyancy and the added mass/moment of inertia. The multilayer neural network using the error back propagation loaming algorithm acts as a compensator of the conventional sliding mode controller to improve the control performance when the initial assumptions of uncertainty bounds are not valid. Computer simulation results show that the proposed control scheme gives an effective path way to cope with the unexpected large uncertainties in the underwater robot manipulator.

Keywords

References

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