NDLI: Neuro sliding mode control of robotic manipulators

Content Provider	IEEE Xplore Digital Library
Author	Purwar, S. Kar, I.N. Jha, A.N.
Copyright Year	2004
Description	Author affiliation: Dept. of Electr. Eng., Indian Inst. of Technol., Delhi, India (Purwar, S.; Kar, I.N.; Jha, A.N.)
Abstract	This paper considers neuro-adaptive control of robotic manipulators based on sliding mode technique. Since robotic manipulators are inherently nonlinear systems, neural network (NN) based controllers have been proposed as a feasible technique to achieve consistent performance, owing to the adaptive nonlinear learning capabilities of NNs. Chebyshev neural network (CNN) is employed to approximate the unknown nonlinearities associated with robotic manipulators. The design basically consists of a neural controller which implements the equivalent control law associated with sliding mode technique for the manipulator with unknown dynamics and an adaptive switching gain which provides robustness and compensates for the neural approximation errors and the disturbances in the system. A single layer CNN is used to realize the proposed controller whose weights are updated online and the Lyapunov stability theory is used to prove the ultimate uniform boundedness of the tracking error. Simulation results illustrate the effectiveness of the proposed method to achieve desired performance in the presence of bounded disturbances.
Starting Page	595
Ending Page	600
File Size	1077330
Page Count	6
File Format	PDF
ISBN	0780386450
DOI	10.1109/RAMECH.2004.1438987
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-12-01
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sliding mode control Neural networks Control systems Manipulator dynamics Programmable control Adaptive control Chebyshev approximation Cellular neural networks Robot control Nonlinear systems
Content Type	Text
Resource Type	Article

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Mr. Siddhartha Mukherjee siddhartha@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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