RBF Neural Network of Sliding Mode Control for Time-Varying 2-DOF Parallel Manipulator System

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="201712.fig.008a" src="https://static.hindawi.com/articles/mpe/volume-2013/201712/figures/201712.fig.008a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Control voltage of joint<svg height="15.5375" id="M92" style="vertical-align:-3.276pt" version="1.1" viewbox="0 0 24.5875 15.5375" width="24.5875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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<g transform="matrix(.012,-0,0,-.012,18.187,15.475)"><path d="M384 0h-275v27q67 5 81.5 18.5t14.5 68.5v385q0 38 -7.5 47.5t-40.5 10.5l-48 2v24q85 15 178 52v-521q0 -55 14.5 -68.5t82.5 -18.5v-27z" id="x31"></path></g>
</svg></td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="201712.fig.008b" src="https://static.hindawi.com/articles/mpe/volume-2013/201712/figures/201712.fig.008b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Control voltage of joint<svg height="15.5375" id="M93" style="vertical-align:-3.276pt" version="1.1" viewbox="0 0 24.5875 15.5375" width="24.5875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,5.725,11.4)"><path d="M716 28l-8 -28h-254l8 28q55 5 66 17.5t5 47.5l-30 145h-232l-74 -138q-21 -43 -11 -54.5t72 -17.5l-6 -28h-235l8 28q53 7 73.5 21t53.5 70l319 540l33 8q6 -43 33 -176l80 -381q10 -49 26.5 -63t72.5 -19zM495 281l-49 264h-2l-149 -264h200z" id="x1D434"></path></g>
<g transform="matrix(.012,-0,0,-.012,18.187,15.475)"><path d="M412 140l28 -9q0 -2 -35 -131h-373v23q112 112 161 170q59 70 92 127t33 115q0 63 -31 98t-86 35q-75 0 -137 -93l-22 20l57 81q55 59 135 59q69 0 118.5 -46.5t49.5 -122.5q0 -62 -29.5 -114t-102.5 -130l-141 -149h186q42 0 58.5 10.5t38.5 56.5z" id="x32"></path></g>
</svg></td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="201712.fig.008c" src="https://static.hindawi.com/articles/mpe/volume-2013/201712/figures/201712.fig.008c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Control voltage of joint<svg height="15.6875" id="M94" style="vertical-align:-3.39066pt" version="1.1" viewbox="0 0 24.5875 15.6875" width="24.5875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,5.725,11.4)"><path d="M716 28l-8 -28h-254l8 28q55 5 66 17.5t5 47.5l-30 145h-232l-74 -138q-21 -43 -11 -54.5t72 -17.5l-6 -28h-235l8 28q53 7 73.5 21t53.5 70l319 540l33 8q6 -43 33 -176l80 -381q10 -49 26.5 -63t72.5 -19zM495 281l-49 264h-2l-149 -264h200z" id="x1D434"></path></g>
<g transform="matrix(.012,-0,0,-.012,18.187,15.475)"><path d="M285 378v-2q65 -13 102 -54.5t37 -97.5q0 -57 -30.5 -104.5t-74 -75t-85.5 -42t-72 -14.5q-31 0 -59.5 11t-40.5 23q-19 18 -16 36q1 16 23 33q13 10 24 0q58 -51 124 -51q55 0 88 40t33 112q0 64 -39 96.5t-88 32.5q-29 0 -64 -11l-6 29q77 25 118 57.5t41 84.5
q0 45 -26.5 69.5t-68.5 24.5q-67 0 -120 -79l-20 20l43 63q51 56 127 56h1q66 0 107 -37t41 -95q0 -42 -31 -71q-22 -23 -68 -54z" id="x33"></path></g>
</svg></td></tr></table></td></tr></table>

<table>Control voltage generated by RBF TVSMC.</table>

Mathematical Problems in Engineering

fig8

Figure 8

Figure 8: RBF Neural Network of Sliding Mode Control for Time-Varying 2-DOF Parallel Manipulator System 