A novel adaptive finite-time tracking control for robotic manipulators using nonsingular terminal sliding mode and RBF neural networks
| العنوان: | A novel adaptive finite-time tracking control for robotic manipulators using nonsingular terminal sliding mode and RBF neural networks |
|---|---|
| المؤلفون: | Hee-Jun Kang, Minh-Duc Tran |
| المصدر: | International Journal of Precision Engineering and Manufacturing. 17:863-870 |
| بيانات النشر: | Springer Science and Business Media LLC, 2016. |
| سنة النشر: | 2016 |
| مصطلحات موضوعية: | Lyapunov function, 0209 industrial biotechnology, Engineering, Artificial neural network, business.industry, Mechanical Engineering, 020208 electrical & electronic engineering, Terminal sliding mode, Control engineering, 02 engineering and technology, Sliding mode control, Industrial and Manufacturing Engineering, Computer Science::Robotics, symbols.namesake, 020901 industrial engineering & automation, Control theory, 0202 electrical engineering, electronic engineering, information engineering, symbols, Trajectory, Adaptive learning, Electrical and Electronic Engineering, Robust control, business |
| الوصف: | This paper presents a novel adaptive terminal sliding mode controller for the trajectory tracking of robotic manipulators using radial basis function neural networks (RBFNNs). First, a modified terminal sliding mode (TSM) surface is approached to avoid the singularity problem of conventional TSM. Then, a nonsingular TSM control is designed for joint position tracking of a robotic manipulator. In the control scheme, fully tuned RBFNNs are adopted to approximate the nonlinear unknown dynamics of the robotic manipulator. Adaptive learning algorithms are derived to allow online adjustment of the output weights, the centers and the variances in the RBFNNs. Meanwhile, a continuous robust control term is added to eliminate chattering efforts in the sliding mode control (SMC) system. The stability and finite-time convergence of the closed-loop system are established by using Lyapunov theory. Finally, the simulation results of a two-link robotic manipulator are presented to demonstrate the effectiveness of the proposed control method. |
| تدمد: | 2005-4602 2234-7593 |
| الوصول الحر: | https://explore.openaire.eu/search/publication?articleId=doi_________::9818ceba8ab71981a00ac68a001f4613Test https://doi.org/10.1007/s12541-016-0105-xTest |
| حقوق: | CLOSED |
| رقم الانضمام: | edsair.doi...........9818ceba8ab71981a00ac68a001f4613 |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 20054602 22347593 |
|---|