Neural-network-based discrete-time variable structure control of robotic manipulators

Author

Corradini, Maria Letizia ; Ippoliti, Gianluca ; Longhi, Sauro ; Orlando, Giuseppe ; Signorini, Raffaele

Author_Institution

Dipt. di Mat. e Inf., Univ. di Camerino, Camerino, Italy

fYear

2009

fDate

22-26 June 2009

Firstpage

1

Lastpage

6

Abstract

This paper presents a neural-network-based discrete-time variable structure control for a planar robotic manipulator. Radial basis function neural networks are used to learn about uncertainties affecting the system. The analysis of the control stability is given and the controller is experimentally evaluated on the ERICC robot arm. The experiments show that the proposed controller produces good trajectory tracking performance and is robust in the presence of model inaccuracies.

Keywords

discrete time systems; manipulators; neurocontrollers; position control; stability; variable structure systems; control stability analysis; discrete-time variable structure control; planar robotic manipulator; radial basis function neural networks; trajectory tracking; Control systems; Manipulator dynamics; Neural networks; Nonlinear dynamical systems; Radial basis function networks; Robot control; Robust control; Service robots; Sliding mode control; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 2009. ICAR 2009. International Conference on

Conference_Location

Munich

Print_ISBN

978-1-4244-4855-5

Electronic_ISBN

978-3-8396-0035-1

Type

conf

Filename

5174741