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A RBF Neural Network Sliding Mode Controller for SMA Actuator

Nguyen Trong Tai and Kyoung Kwan Ahn*
International Journal of Control, Automation, and Systems, vol. 8, no. 6, pp.1296-1302, 2010

Abstract : A radial basis function neural network sliding-mode controller (RBFSMC) is proposed to control a shape memory alloy (SMA) actuator. This approach, which combines a RBF neural network with slid-ing-mode control (SMC), is presented for the tracking control of a class of nonlinear systems having parameter uncertainties. The centers and output weights of the RBF neural network are updated through on-line learning, which causes the output of the neural network control to approximate the sliding-mode equivalent control along the direction that makes the sliding-mode asymptotically stable. Using Lyapunov theory, the asymptotic stability of the overall system is proven. Then, the controller is applied to compensate for the hysteresis phenomenon seen in SMA. The results show that the control-ler was applied successfully. The control results are also compared to those of a conventional SMC.

Keyword : Adaptive control, RBF neural network, shape memory alloy control, sliding mode control.

 
 
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