Abstract
AbstractFor the nonlinear system with structural instability and parameter uncertainty, this paper combines neural network theory and sliding mode control based on fuzzy neural network and designs a controller for the control problem of uncertain nonlinear system. This paper first establishes the kinematic model of crawler robot, based on adaptive sliding mode control theory, equivalent controller and switching controller based on fuzzy neural network theory to ensure the global stability and convergence of the controller. Simulation s demonstrate that it are highly adaptive and robust to the s system, a nonlinear system of crawler robot, using neural networks. And has the characteristics of rapid response and strong tracking performance.KeywordsCrawler robotSliding mode control (SMC)Fuzzy neural network
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