Adaptive Neuro Integral Sliding Mode Control on Synchronization of Two Robot Manipulators
Designing a new adaptive synchronization controller for multiple robot manipulators is main purpose of this study. But, this synchronization between robots are considered without having direct communication between robots. The adaptive synchronization method is consisted of the integral sliding mode controller improved with adaptive neural network controller. In order to analyze the performance of the proposed method, four different situations are considered. Also, the result are compared with the ANFIS method. The proposed method is guaranteed by Lyapunov stability method.
KeywordsSynchronization controller Adaptive neural network controller Integral sliding mode control
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