Hybrid Neural Fuzzy Sliding Mode Control of Flexible-Joint Manipulators with Unknown Dynamics

Author

Chaoui, Hicham ; Gueaieb, Wail ; Yagoub, Mustapha C E ; Sicard, Pierre

Author_Institution

Sch. of Inf. Technol. & Eng., Ottawa Univ., Ont.

fYear

2006

fDate

6-10 Nov. 2006

Firstpage

4082

Lastpage

4087

Abstract

In this paper, a hybrid neural fuzzy control scheme is proposed for the control of flexible-joint robot manipulators with unknown dynamics. The control strategy is based on a feedforward artificial neural network to partially approximate the manipulator´s inverse dynamics. A fuzzy sliding mode feedback controller is also used for the online adaptation of the neural network-based controller. Simulation results of various scenarios highlight the performance and stability of the proposed controller in compensating for the highly nonlinear unknown dynamics of the manipulator under different dynamical conditions and external disturbances

Keywords

feedforward neural nets; flexible manipulators; fuzzy control; manipulator dynamics; neurocontrollers; stability; variable structure systems; external disturbances; feedforward artificial neural network; flexible-joint manipulators; hybrid neural fuzzy sliding mode control; stability; unknown dynamics; Adaptive control; Artificial neural networks; Control systems; Error correction; Friction; Fuzzy control; Manipulator dynamics; Sliding mode control; Stability; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on

Conference_Location

Paris

ISSN

1553-572X

Print_ISBN

1-4244-0390-1

Type

conf

DOI

10.1109/IECON.2006.348032

Filename

4153606