DocumentCode :
3188486
Title :
Radial basis function neural network with sliding mode control for robotic manipulators
Author :
Lu, Hung-Ching ; Tsai, Cheng-Hung ; Chang, Ming-Hung
Author_Institution :
Dept. of Electr. Eng., Tatung Univ., Taipei, Taiwan
fYear :
2010
fDate :
10-13 Oct. 2010
Firstpage :
1209
Lastpage :
1215
Abstract :
In this paper, radial basis function network (RBFN) with sliding-mode controller (SMC) is designed to the joint position control of two-link robot manipulators for periodic motion and predefined trajectory tracking control. Radial basis function uses curve fitting mode to obtain the nonlinear mapping. The unavoidable learning procedure degrades its transient performance in the existence of disturbance. Sliding-mode control is effective in overcoming uncertainties and has a fast transient response, while the control effort is discontinuous and creates chattering. For this defect, a saturation function is utilized to improve it. The back-propagation (BP) algorithm and Lyapunov stability theorem are used to decide a suitable update law and sliding-mode switch gain, respectively. Thus, the satisfied performance will be obtained, which better than the controller with single RBFN controller, sliding mode controller. The simulated results of a two-link robotic manipulator for the joint frictions, changing link masses and adding external disturbances are provided to show that the effectiveness of the proposed control scheme.
Keywords :
Lyapunov methods; backpropagation; curve fitting; manipulators; position control; radial basis function networks; variable structure systems; Lyapunov stability theorem; backpropagation algorithm; chattering; curve fitting mode; position control; radial basis function neural network; sliding mode control; sliding mode switch gain; trajectory tracking control; two link robot manipulators; Artificial neural networks; Neurons; back-propagation algorithm; neural network sliding-mode controller; radial basis function network; two-link robotic manipulator;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems Man and Cybernetics (SMC), 2010 IEEE International Conference on
Conference_Location :
Istanbul
ISSN :
1062-922X
Print_ISBN :
978-1-4244-6586-6
Type :
conf
DOI :
10.1109/ICSMC.2010.5642384
Filename :
5642384
Link To Document :
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