Variable Structure Control for Space Robots Based on Neural Networks Regular Paper

摘要

Problems of trajectory tracking for a class of free-floating robot manipulators with uncertainties are considered. Two neural network controls are designed. The first scheme consists of a PD feedback and a dynamic compensator which is an RBF neural network controller. The second scheme syncretizes neural networks with variable structures using a saturation function. Neutral networks are used to adaptively learn about and compensate for the unknown system. Approach errors are eliminated as disturbances by using the variable structure controller. The shortcomings of local networks are considered. The control is based on dividing aspects into three sections with classification and integration: state dimensional, neural network and variable structure separate control. When invalidations of the neutral network appeared, the controller was able to guarantee good robustness as well as the stability of the closed-loop system. The simulation results show that the methods presented are effective.