Title :
Neuro sliding mode based chatter free control for an artificial muscles robot arm
Author :
Boudoua, S. ; Hamerlain, F. ; Hamerlain, M.
Author_Institution :
Adv. Technol. Dev. Centre (CDTA), Algiers, Algeria
Abstract :
We are concerned with the control of a 3-DOF robot arm actuated by pneumatic rubber muscles. The system is highly non-linear and somehow difficult to model therefore resorting to robust control is required. In order to alleviate the effects of nonlinearities and uncertainties, a combined control strategy based on neural network (NN) and the concept of sliding mode control (SMC) is proposed systematically. In this control structure a simple “two-layer” feedforward neural network (NN) with on line adaptive learning laws is used to estimate unknown plant dynamics and chattering phenomenon in conventional SMC is eliminated by incorporated a modified corrective control term. The algorithm is derived from Lyapunov stability analysis, so that both system tracking stability and error convergence can be guaranteed in the closed-loop system. Experimental results are presented and discussed.
Keywords :
Lyapunov methods; closed loop systems; control nonlinearities; dexterous manipulators; feedforward neural nets; industrial manipulators; machining chatter; manipulator dynamics; neurocontrollers; nonlinear control systems; pneumatic actuators; robust control; variable structure systems; 3-DOF robot arm; Lyapunov stability analysis; artificial muscles robot arm; chattering phenomenon; closed loop system; line adaptive learning law; neural network; neuro sliding mode based chatter free control; nonlinear system; plant dynamics; pneumatic rubber muscle; robust control; Artificial neural networks; Muscles; Tin; Pneumatic artificial muscle; neural network; neuro sliding mode control; variable structure system;
Conference_Titel :
Neural Networks (IJCNN), The 2010 International Joint Conference on
Conference_Location :
Barcelona
Print_ISBN :
978-1-4244-6916-1
DOI :
10.1109/IJCNN.2010.5596785
