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Robust PID sliding mode control of robot manipulators with online learning neural network

Cat, P.T. and Hiep, N.T. (2014) Robust PID sliding mode control of robot manipulators with online learning neural network. In: 2009 10th European Control Conference, ECC 2009, 23 August 2009 through 26 August 2009.

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Abstract

The paper presents a new adaptive control algorithm for robot motion tracking problem to overcome noises and large uncertainties using integral sliding surface with a neural network. The control quality has been improved compared to conventional PD type sliding surface. It removes chattering and increases the accuracy. The weights of the neural network are updated continuously online granting the approximation of uncertain nonlinearities in the robot dynamics. The stability of the overall system has been proved by Lyapunov direct method. Computer simulations are given to illustrate the robustness and applicability of the proposed method. © 2009 EUCA.

Item Type: Conference or Workshop Item (Paper)
Divisions: Faculties > Faculty of Control Engineering
Identification Number: 10.23919/ecc.2009.7074729
Uncontrolled Keywords: Adaptive control systems; E-learning; Manipulators; Proportional control systems; Robot applications; Robots; Sliding mode control; Adaptive control algorithms; Control quality; Lyapunov direct method; Online learning; Robot dynamics; Robot manipulator; Robot motion; Sliding surface; Quality control
Additional Information: Conference code: 111795. Language of original document: English.
URI: http://eprints.lqdtu.edu.vn/id/eprint/9991

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