A Adaptive Neural Network Variable Structure System for Nimble Finger

摘要

A combination of Adaptive Neural Network with sliding mode control (NNSMC) is proposed in this paper. Based on this structure, the shake-Vibration is eliminated and steady-state error is improved. A Lyapunov function is selected for the design of adaptive sliding mode control. Self-adaptation of system parameters is used in feed-forward control which does not need prior knowledge of system for the design of feed-forward control. Lastly, the availability of this approach is shown in simulation.