Dynamics Model and Design of SMCNN Controller for 4DOF Car Motion Simulator

Abstract

This research briefly presents the model of four degrees of freedom (4-DOF) car motion simulators using the parallel and serial mechanism. Firstly, the kinematic and dynamics model of 4-DOF are presented. The actual model of the simulator is often deficient in the system's parameters or has the nonlinear uncertainties. Therefore a Sliding Model Control base on artificial intelligence neural network is proposed to approximate the uncertain elements and ensure the stability of the system at the same time. The stability of the system is proved based on Lyapunov theorem. Finally, simulation results verify the effectiveness and accuracy of the proposed algorithm and the comparison between using neural network and not using this element indicates the superiority of the proposed controller.