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In this paper,a neural backstepping sliding mode control(NBSMC)scheme is proposed for flexible-joint robotic manipulators.To achieve a high tracking control performance,joint flexibility is taken into account in both modeling and control of manipulators.The backstepping technique and the sliding-mode control are combined to design the virtual control input in each step of the backstepping method.A simple sigmoid neural network is employed to approximate the nonlinear and uncertain parts in the control system.Comparative simulation examples are given to illustrate the effectiveness of the proposed method.