Title :
An intelligent variable structure controller for robotic arms
Author :
Corradini, M.L. ; Leo, T. ; Canelli, E.
Author_Institution :
Dipt. di Elettronica e Autom., Ancona Univ., Italy
Abstract :
In this paper a novel control scheme is presented where a MIMO variable structure controller has been coupled with a neural network state observer. The proposed control system has been tested in simulation on the trajectory control problem for a SCARA robot. The results reported show very satisfactory performance under both parameter variations and the abrupt intervention of a payload
Keywords :
MIMO systems; intelligent control; manipulators; neurocontrollers; observers; position control; variable structure systems; MIMO; SCARA robot; control scheme; intelligent variable structure controller; neural network state observer; parameter variations; payload; performance; robotic arms; simulation; trajectory control problem; Arm; Artificial neural networks; Automatic control; Control systems; Intelligent robots; Intelligent structures; Observers; Payloads; Robot control; Uncertainty;
Conference_Titel :
Intelligent Engineering Systems, 1997. INES '97. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Budapest
Print_ISBN :
0-7803-3627-5
DOI :
10.1109/INES.1997.632395
