Closed-Form Continuous-Time Neural Networks for Sliding Mode Control with Neural Gravity Compensation
Claudio Urrea,
Yainet Garcia-Garcia,
John Kern
Abstract:This study proposes the design of a robust controller based on a Sliding Mode Control (SMC) structure. The proposed controller, called Sliding Mode Control based on Closed-Form Continuous-Time Neural Networks with Gravity Compensation (SMC-CfC-G), includes the development of an inverse model of the UR5 industrial robot, which is widely used in various fields. It also includes the development of a gravity vector using neural networks, which outperforms the gravity vector obtained through traditional robot model… Show more
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