Sliding Mode Control of Flexible Joint Using Gaussian Radial Basis Function Neural Networks

Abstract

This paper, describes a hybrid control method to control a flexible joint. Dynamic equation of the system has been derived. The designed controllers consist of two parts: classical controller, which is a Linear Quadratic Regulation (LQR), and a hybrid controller,utilizing sliding mode control using Gaussian Radial Basis Function Neural Networks (RBFNN). The RBFNN is trained during the control process and it is not necessary to be trained off-line.