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Neuro‐adaptive sliding‐mode tracking control of robot manipulators
Author(s) -
Topalov Andon V.,
Kaynak Okyay,
Aydin Gokhan
Publication year - 2007
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.982
Subject(s) - control theory (sociology) , sliding mode control , controller (irrigation) , trajectory , computer science , adaptive control , artificial neural network , tracking error , a priori and a posteriori , control engineering , nonlinear system , variable structure control , robust control , control system , artificial intelligence , engineering , control (management) , philosophy , physics , electrical engineering , epistemology , quantum mechanics , astronomy , agronomy , biology
In this work, a new dynamical on‐line learning algorithm for robust model‐free neuro‐adaptive control of a class of nonlinear systems with uncertain dynamics is proposed and experimentally tested in order to evaluate its performance and practical feasibility in industrial settings. The control application studied is the trajectory tracking control task for the first three joints of an open architecture articulated robot manipulator. The control scheme makes use of variable structure systems theory and the feedback‐error‐learning concept. An inner sliding motion is established in terms of the neurocontroller parameters, aiming to lead the error in its control signal towards zero. The outer sliding motion bears on the system under control, the state tracking error vector of which is simultaneously driven towards the origin of the phase space. The existing relation between the two sliding motions is shown. Experimental results illustrate that the proposed neural‐network‐based controller possesses a remarkable learning capability to control complex dynamical systems, virtually without requiring a priori knowledge of the plant dynamics and laborious start‐up procedures. Copyright © 2007 John Wiley & Sons, Ltd.