Manipulator joint space trajectory tracking control based on neutral network-sliding mode controller

To improve tracking accuracy of manipulator to given trajectory and reduce chattering of sliding control, trajectory tracking method based on RBF neutral network-sliding control is proposed. Kinematics equation and dynamic equation of multiple joints manipulator system are built. Firstly, system uncertain item consisting of model error and system disturbance are neglected, and global PID sliding mode controller is built. Besides, global sliding mode control law consisting of equivalent control law and switching control law is designed. Single hidden layer RBF neutral network is used to approach system uncertain item, and approaching value is used to compensate model error and system disturbance to improve tracking accuracy. Clarified by simulation, in the case of big initial error, setting time, overshoot and driving moment of neutral network-sliding mode controller are far less than global PID sliding mode controller, which can prove validity of neutral network-sliding mode controller on manipulator trajectory tracking control.