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Adaptive radial basis function neural network (RBFNI) based fuzzy sliding mode controller for trajectory tracking of underwater manipulator in condenser is proposed. The RBFNN is used to approximate the manipulator system由namics, the weights of the RBFNN are changed according to adaptive algorithm to hit the sliding surface and slide along it. In order to guarantee the stability and the convergence of the system, the sliding mode control gain is adjusted byadaptive fuzzy system to compensate the network approximation error and the external disturbances. The simulation results demonstrate that the proposed control scheme is feasible and effective.