Industrial Automatic Control Systems and Controllers Annotation << Back Kinematic Control of the Rigid Body Position Based on Sliding Mode Chukanov S.N. The kinematic control of the spatial position of the rigid body, based on the formation of velocity vectors of translational and rotational motion for bring the position of rigid body to required, is considered in the paper. Formation of kinematic control of position of a rigid body in sliding mode developed by V.I. Utkin is offered, thus dynamic and kinematic components of the state vector are connected by sliding surface. Two phases of control are used in a sliding mode: in the first phase the control law carries the state vector on the sliding surface; in the second phase is applied an equivalent control law in order to maintain the state vector on the sliding surface. The problem of the formation of the equivalent control in sliding mode for the translational and rotational motion of a rigid body is set and solved. The vector functions that determine a sliding surface for the kinematic control of translational and rotational motion of a rigid body is formed. For stability estimation of the first phase of the control the Lyapunov function is formed. For preventing of chatter effect in the functioning of the switching control the RBF network, which have possibility of approximation of functions of control, is offered in the paper. The gradient method for adaptation of weights and centers RBFN based on minimization of derivative function of Lyapunov is offered. Keywords: kinematic control; sliding mode; rigid body; RBF network. Contacts: E-mail: ch_sn@mail.ru Pp. 08-11.